3D Multi-Sensor Data Fusion for Object Localization in Industrial Applications
Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany
Tagungsband: ISR/Robotik 2014
Seiten: 6Sprache: EnglischTyp: PDF
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Autoren:
Pfitzner, C.; Antal, W.; Hess, P.; May, S.; Merkl, C.; Koch, P.; Koch, R.; Wagner, M. (Nuremberg Institute of Technology Georg Simon Ohm, Germany)
Inhalt:
This paper describes a data fusion approach for 3D sensors exploiting assets of the signed distance function. The objectoriented model is described as well as the algorithm design. We developed a framework respecting different modalities for multi-sensor fusion, 3D mapping and object localization. This approach is suitable for industrial applications having need for contact-less object localization like bin picking. In experiments we demonstrate 3D mapping as well as sensor fusion of a structured light sensor with a Time-of-Flight (ToF) camera.