Under CopyrightArbeiter, GeorgGeorgArbeiterFischer, JanJanFischerVerl, AlexanderAlexanderVerl2022-03-1130.9.20102010https://publica.fraunhofer.de/handle/publica/36703010.24406/publica-fhg-367030This 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.entime-of-flight3D-Bildverarbeitung3D environment reconstructionUmgebungserkennungFast SLAMmobiler RoboterCare-O-BotRoboterBildverarbeitungAlgorithmus629conference paper