@inproceedings{DroeschelMayHolzetal.2009,
  author    = {David Droeschel and Stefan May and Dirk Holz and Paul Pl{\"o}ger and Sven Behnke},
  title     = {Robust Ego-Motion Estimation with ToF Cameras},
  series = {Petrovic, Lilienthal (Eds.): Proceedings of the 4th European Conference on Mobile Robots, ECMR '09, September 23-25, 2009, Mlini/Dubrovnik, Croatia},
  isbn      = {978-953-6037-54-4},
  pages     = {187 -- 192},
  year      = {2009},
  abstract  = {This paper presents an approach to estimate theego-motion of a robot while moving. The employed sensor is aTime-of-Flight (ToF) camera, the SR3000 from Mesa Imaging.ToF cameras provide depth and reflectance data of the scene athigh frame rates.The proposed method utilizes the coherence of depth andreflectance data of ToF cameras by detecting image features onreflectance data and estimating the motion on depth data. Themotion estimate of the camera is fused with inertial measure-ments to gain higher accuracy and robustness.The result of the algorithm is benchmarked against referenceposes determined by matching accurate 2D range scans. Theevaluation shows that fusing the pose estimate with the datafromthe IMU improves the accuracy and robustness of the motionestimate against distorted measurements from the sensor.},
  language  = {en}
}