Fuchs, Stefan and Nüchter, Andreas and May, Stefan and Dröschel, David and Holz, Dirk (2009) Robust 3D-Mapping with Time-of-Flight Cameras. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.
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Abstract
Time-of-Flight cameras constitute a smart and fast technology for 3D perception but lack in measurement precision and robustness. We present a comprehensive approach for 3D environment mapping based on this technology. Imprecision of depth measurements are properly handled by calibration and application of several filters. Robust registration is performed by a novel extension to the Iterative Closest Point algorithm. Remaining registration errors are reduced by global relaxation after loop-closure and surface smoothing. A laboratory ground truth evaluation is provided as well as 3D mapping experiments in a larger indoor environment.
Item URL in elib: | https://elib.dlr.de/62654/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||
Title: | Robust 3D-Mapping with Time-of-Flight Cameras | ||||||||||||||||||
Authors: |
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Date: | 11 October 2009 | ||||||||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||
Status: | Published | ||||||||||||||||||
Keywords: | 3D-Mapping, Time-of-Flight Cameras | ||||||||||||||||||
Event Title: | IROS, International Conference on Intelligent Robots and Systems | ||||||||||||||||||
Event Location: | St. Louis, USA | ||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||
Event Dates: | 11. Okt. -15. Okt. 2009 | ||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||||||||
HGF - Program: | Space (old) | ||||||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||
DLR - Research area: | Space | ||||||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||
DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||||||||
Deposited On: | 14 Jan 2010 16:35 | ||||||||||||||||||
Last Modified: | 31 Jul 2019 19:27 |
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