Fusion of stereo-camera and PMD-camera data for real-time suited precise 3D environment reconstruction

被引:58
作者
Kuhnert, Klaus-Dieter [1 ]
Stommel, Martin [1 ]
机构
[1] Univ Siegen, Inst Real Time Learning Syst, Dept Elect Engn & Comp Sci, Siegen, Germany
来源
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词
mobile robots; stereo; PMD-camera; real-time;
D O I
10.1109/IROS.2006.282349
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
3D environment reconstruction is a basic task, delivering the data for mapping, localization and navigation in mobile robotics. We present a new technique that combines a stereo-camera system with a PMD-camera. Both systems generate distance images of the environment but with different characteristics. It is shown that each system compensates effectively for the deficiencies of the other one. The combined system is real-time suited. Experimental data of an indoor scene including the calibration procedure are reported.
引用
收藏
页码:4780 / +
页数:2
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