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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Pirker, K. Ruther, M. Bischof, H. Schweighofer, G. Mayer, H. |
| Copyright Year | 2010 |
| Description | Author affiliation: Institute for Computer Graphics and Vision, Graz University of Technology, Inffeldgasse 16/II, 8010 Graz, Austria (Pirker, K.; Ruther, M.; Bischof, H.) || Institute of Digital Image Processing, Joanneum Research GmbH Wastiangasse 6, 8010 Graz, Austria (Schweighofer, G.; Mayer, H.) |
| Abstract | Photonic mixer devices (PMDs) are able to create reliable depth maps of indoor environments. Yet, their application in mobile robotics, especially in simultaneous localization and mapping (SLAM) applications, is hampered by the limited field of view. Enhancing the field of view by optical devices is not trivial, because the active light source and the sensor rays need to be redirected in a defined manner. In this work we propose an omnidirectional PMD sensor which is well suited for indoor SLAM and easy to calibrate. Using a single sensor and multiple planar mirrors, we are able to reliably navigate in indoor environments to create geometrically consistent maps, even on optically difficult surfaces. |
| Starting Page | 988 |
| Ending Page | 993 |
| File Size | 875946 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424478149 |
| e-ISBN | 9781424478156 |
| DOI | 10.1109/ICARCV.2010.5707286 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-12-07 |
| Publisher Place | Singapore |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Cameras Mirrors Calibration Robot vision systems Simultaneous localization and mapping |
| Content Type | Text |
| Resource Type | Article |
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