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

: Arbeiter, G.; Fischer, J.; Verl, A.

Verband der Elektrotechnik, Elektronik, Informationstechnik -VDE-:
Joint 41st International Symposium on Robotics and 6th German Conference on Robotics, ISR/ROBOTIK 2010. Vol.1 : Munich, Germany, 7 - 9 June 2010
Red Hook, NY: Curran, 2010
ISBN: 978-1-617-38719-7
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Fraunhofer IPA ()

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.