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3D perception and modeling for manipulation on Care-O-bot® 3

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

IEEE Robotics and Automation Society:
IEEE International Conference on Robotics and Automation, ICRA 2010. Conference Digest : Anchorage, Alaska, USA, May 3-8, 2010
Piscataway, NJ, USA: IEEE Press, 2010
5 S.
International Conference on Robotics and Automation (ICRA) <2010, Anchorage/Alas.>
Fraunhofer IPA ()
Care-O-Bot; 3D environment reconstruction; 3D-coordinate measurement; 3D-Objekterkennung; Fast SLAM; time-of-flight; Roboter; Algorithmus

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