Title :
Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Suited Precise 3D Environment Reconstruction
Author :
Kuhnert, Klaus-Dieter ; Stommel, Martin
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Siegen Univ.
Abstract :
3D environment reconstruction is a basic task, delivering the data for mapping, localization and navigation in mobile robotics. We present a new technique that combines a stereo-camera system with a PMD-camera. Both systems generate distance images of the environment but with different characteristics. It is shown that each system compensates effectively for the deficiencies of the other one. The combined system is real-time suited. Experimental data of an indoor scene including the calibration procedure are reported
Keywords :
SLAM (robots); image reconstruction; image sensors; mobile robots; path planning; stereo image processing; PMD-camera data; mobile robotics; real-time suited precise 3D environment reconstruction; stereo-camera system; Cameras; Image reconstruction; Intelligent robots; Layout; Mobile robots; Navigation; Optical modulation; Real time systems; Robot vision systems; Robustness; PMD-camera; mobile robots; real-time; stereo;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282349
