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The Self-Referenced DLR 3D-Modeler

Strobl, Klaus and Mair, Elmar and Bodenmüller, Tim and Kielhöfer, Simon and Sepp, Wolfgang and Burschka, Darius and Hirzinger, Gerd (2009) The Self-Referenced DLR 3D-Modeler. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary 3-D modeling of the scene. The use of stereo vision, an inertial measurement unit, and robust cost functions for pose estimation further increases performance. The method is validated by demonstrations and abundant video material.

Item URL in elib:https://elib.dlr.de/62658/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:The Self-Referenced DLR 3D-Modeler
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Strobl, KlausKlaus.Strobl (at) dlr.deUNSPECIFIED
Mair, ElmarElmar.Mair (at) cs.tum.eduUNSPECIFIED
Bodenmüller, TimTim.Bodenmueller (at) dlr.deUNSPECIFIED
Kielhöfer, SimonSimon.Kielhoefer (at) dlr.deUNSPECIFIED
Sepp, WolfgangWolfgang.Sepp (at) dlr.deUNSPECIFIED
Burschka, DariusDarius.Burschka (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
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-Modeler
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 17:02
Last Modified:31 Jul 2019 19:27

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