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Kielhöfer, Simon and Bahls, Thomas and Hacker, Franz and Wüsthoff, Tilo and Suppa, Michael (2011) DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics. In: Proceedings of IROS 2011, pp. 1933-1939. IROS 2011, 2011-09-25 - 2011-09-30, San Francisco, USA. doi: 10.1109/iros.2011.6048564.
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Abstract
Precise and robust perception of the environment is crucial for highly integrated and autonomous robot systems. In this paper the dedicated design of a triangulation based laser range scanner optimized for 3D-modelling and autonomous exploration in robotics is presented. The presented laser scanner design is based on an extremely small MEMS scan head permitting a compact, lightweight and highly integrated implementation allowing for hand-eye operation. Special capabilities like variable range and confidence rating of the measuring values increase robustness. The design considerations and a prototype are described and experimental results are presented.
| Item URL in elib: | https://elib.dlr.de/72930/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||||||
| Title: | DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics | ||||||||||||||||||||||||
| Authors: |
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| Date: | 25 September 2011 | ||||||||||||||||||||||||
| Journal or Publication Title: | Proceedings of IROS 2011 | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||
| DOI: | 10.1109/iros.2011.6048564 | ||||||||||||||||||||||||
| Page Range: | pp. 1933-1939 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | laser scanner, robot vision, 3d-modelling, exploration | ||||||||||||||||||||||||
| Event Title: | IROS 2011 | ||||||||||||||||||||||||
| Event Location: | San Francisco, USA | ||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||
| Event Start Date: | 25 September 2011 | ||||||||||||||||||||||||
| Event End Date: | 30 September 2011 | ||||||||||||||||||||||||
| Organizer: | IEEE/RSJ | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Multisensorielle Weltmodellierung (old) | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||||||
| Deposited By: | Kielhöfer, Simon | ||||||||||||||||||||||||
| Deposited On: | 15 Dec 2011 16:42 | ||||||||||||||||||||||||
| Last Modified: | 11 Nov 2024 09:40 |
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