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3-D-environment reconstruction for mobile robots using fast- SLAM and feature extraction

: Arbeiter, Georg; Fischer, Jan; Verl, Alexander

Postprint urn:nbn:de:0011-n-1414940 (3.9 MByte PDF)
MD5 Fingerprint: 5971762f02d107c4d0ba4015b176d318
Created on: 30.9.2010

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
time-of-flight; 3D-Bildverarbeitung; 3D environment reconstruction; Umgebungserkennung; Fast SLAM; mobiler Roboter; Care-O-Bot; Roboter; Bildverarbeitung; Algorithmus

This paper proposes an algorithm that can be used to reconstruct a 3-D environment on a mobile robot. As sensors, color and time-of-flight cameras are used. 2-D features are extracted from color images and assigned 3-D coordinates. Those are the input for a modified fastSLAM algorithm that is capable of rendering environment maps for small environments online in order to execute manipulation tasks. The method is evaluated on the service robot Care-O-bot®3.