NDLI: Application of 3D-PMD video cameras for tasks in the autonomous mobile robotics

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Application of 3D-PMD video cameras for tasks in the autonomous mobile robotics

Content Provider	Semantic Scholar
Author	Prusak, A. Roth, Hubert Schwarte, Rudolf
Copyright Year	2005
Abstract	Abstract Fast Localisation is a basic function within the mobile robotics. Beside the odometrie, mainly image sensors are used. This paper shows a short overview of the image sensors used for it. Outgoing from the 2D, 3D laser scanner, over 2D mono camera and 2D stereo camera, up to the omni-directional 2D camera are described problems, which appear in recording and modelling of the robot environment with such sensors. In this paper in comparison to the classical sensors a completely new 3D-PMD video camera is introduced as a more efficiently image sensor. This sensor can not only record the robot environment as normal 2D image but delivers furthermore additionally with the depth information into a three-dimensional video image. Concerning of speed and accuracy, new possibilities are opened in object and obstacle recognition, localization and autonomous map generation, within the mobile robotics.
Starting Page	138
Ending Page	143
Page Count	6
File Format	PDF HTM / HTML
DOI	10.3182/20050703-6-CZ-1902.02075
Volume Number	38
Alternate Webpage(s)	http://folk.ntnu.no/skoge/prost/proceedings/ifac2005/Fullpapers/04480.pdf
Alternate Webpage(s)	http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2005/Fullpapers/04480.pdf
Alternate Webpage(s)	https://doi.org/10.3182/20050703-6-CZ-1902.02075
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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