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Robust 3D-mapping with time-of-flight cameras

  • Time-of-flight cameras constitute a smart and fast technology for 3D perception but lack in measurement precision and robustness. The authors present a comprehensive approach for 3D environment mapping based on this technology. Imprecision of depth measurements are properly handled by calibration and application of several filters. Robust registration is performed by a novel extension to the Iterative Closest Point algorithm. Remaining registration errors are reduced by global relaxation after loop-closure and surface smoothing. A laboratory ground truth evaluation is provided as well as 3D mapping experiments in a larger indoor environment.

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Document Type:Conference Object
Author:Stefan May, David Droeschel, Stefan Fuchs, Dirk Holz, Andreas Nuchter
Parent Title (English):IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St. Louis, MO, USA, 10-15 Oct. 2009
First Page:1673
Last Page:1678
Publication year:2009
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2016/03/03