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Motion planning using a ToF camera for manipulation in cluttered environments

: Xue, Zhixing; Kühnle, Jens; Rühl, Steffen; Dillmann, Rüdiger


Prassler, Erwin (Hrsg.); Bischoff, Rainer (Hrsg.); Burgard, Wolfram (Hrsg.); Haschke, Robert (Hrsg.); Hägele, Martin (Hrsg.); Lawitzky, Gisbert (Hrsg.); Nebel, Bernhard (Hrsg.); Plöger, Paul (Hrsg.); Reiser, Ulrich (Hrsg.); Zöllner, Marius (Hrsg.):
Towards Service Robots for Everyday Environments : Recent Advances in Designing Service Robots for Complex Tasks in Everyday Environments
Berlin: Springer, 2012 (Springer Tracts in Advanced Robotics - STAR 76)
ISBN: 978-3-642-25115-3 (Print)
ISBN: 978-3-642-25116-0 (Online)
DOI: 10.1007/978-3-642-25116-0
ISSN: 1610-7438
Aufsatz in Buch
Fraunhofer IPA ()
DESIRE; Robotersystem; time-of-flight; Serviceroboter; Bewegungsplanung; 3D-Sensor; Roboter; Kamera; Kalibrieren

Time-of-Flight camera can help a service robot to sense its 3D environment. The modeled environment information can be used by motion planning algorithms to plan a collision free movement for the robot, or by grasp planning algorithms to find feasible grasps for an a priori unknown object in the scene. To guarantee that the models used by the planning algorithms are consistent with the real world, calibration of the Time-of-Flight camera is necessary. In this article the intrinsic and extrinsic parameter calibration procedures applied in the DESIRE project are presented. A segmentation using GPU calculation is used to seperate the sensed model and a priori information of the environment. We use a motion planning algorithm based on Probabilistic Road to plan collision free movement for DESIRE platform.