3-D-Environment Reconstruction for Mobile Robots using fast- SLAM and Feature Extraction

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 5Language: englishTyp: PDF

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Arbeiter, Georg; Fischer, Jan; Verl, Alexander (Fraunhofer IPA, Nobelstr. 12, 70597 Stuttgart, Germany)

This paper proposes an algorithm that can be used to reconstruct a 3-D environment on a mobile robot. As sensors, color and time-of-flight cameras are used. 2-D features are extracted from color images and assigned 3-D coordinates. Those are the input for a modified fastSLAM algorithm that is capable of rendering environment maps for small environments online in order to execute manipulation tasks. The method is evaluated on the service robot Care-O-bot(R) 3.