TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Droeschel, David
A1  - May, Stefan
A1  - Holz, Dirk
A1  - Plöger, Paul
A1  - Behnke, Sven
T1  - Robust Ego-Motion Estimation with ToF Cameras
T2  - Petrovic, Lilienthal (Eds.): Proceedings of the 4th European Conference on Mobile Robots, ECMR '09, September 23-25, 2009, Mlini/Dubrovnik, Croatia
N2  - 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.
KW  - Ego-Motion Estimation
KW  - ToF Camera
KW  - SensorFusion
Y1  - 2009
SN  - 978-953-6037-54-4
SB  - 978-953-6037-54-4
SP  - 187
EP  - 192
ER  -