Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354684 | IROS |
Keywords | Field | DocType |
environment mapping,depth measurement,comprehensive approach,iterative closest point algorithm,robust registration,mapping experiment,remaining registration error,time-of-flight camera,larger indoor environment,fast technology,calibration,mobile robots,time of flight,robustness,iterative methods | Computer vision,Iterative method,Computer science,Robustness (computer science),Smoothing,Ground truth,Artificial intelligence,Calibration,Reflection mapping,Mobile robot,Iterative closest point | Conference |
Citations | PageRank | References |
17 | 0.87 | 13 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Stefan May | 1 | 184 | 16.09 |
| Stefan Fuchs | 2 | 183 | 13.65 |
| David Droeschel | 3 | 292 | 21.76 |
| Dirk Holz | 4 | 369 | 25.04 |
| Andreas Nüchter | 5 | 1341 | 90.03 |