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Real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot

 
: Kühnle, Jens; Danzer, Marinus; Verl, Alexander; Bischoff, Rainer

:

Casasent, D.P. ; Society of Photo-Optical Instrumentation Engineers -SPIE-, Bellingham/Wash.; Society for Imaging Science and Technology -IS&T-:
Intelligent robots and computer vision XXVII. Algorithms and techniques : 18-19 January 2010, San Jose, California, United States
Bellingham, WA: SPIE, 2010 (Proceedings of SPIE 7539)
ISBN: 978-0-8194-7932-7
Paper 75390E , 10 pp.
Conference "Intelligent Robots and Computer Vision - Algorithms and Techniques" <27, 2010, San Jose/Calif.>
English
Conference Paper
Fraunhofer IPA ()
mobile robot; service robot; Hinderniserkennung; Kollisionserkennungsverfahren; 3D-Bildverarbeitung; 3D-Kamera; Echtzeit; time-of-flight; mobiler Roboter; Serviceroboter; Bildverarbeitung; Objekterkennung; Kollision; Roboter

Abstract
In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.
3D environment model, obstacle detection, collision avoidance, mobile service robots, 3D time-offlight camera, general-purpose computation on graphics processing unit.

: http://publica.fraunhofer.de/documents/N-164652.html