A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping

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Date
2014
Journal Title
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Volume Title
Publisher
The Eurographics Association
Abstract
This paper describes a data integration approach for arbitrary 2D/3D depth sensing units exploiting assets of the signed distance function. The underlying framework generalizes the KinectFusion approach with an objectoriented model respecting different sensor modalities. For instance, measurements of 2D/3D laser range finders and RGB-D cameras can be integrated into the same representation. Exemplary, an environment is reconstructed with a 3D laser range finder, while adding fine details from objects of interest by closer inspection with an RGB-D sensor. A typical application of this approach is the exploration in rescue environments, where large-scale mapping is performed on the basis of long-range laser range finders while hollows are inspected with lightweight sensors attached to a manipulator arm.
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@inproceedings{
:10.2312/vmv.20141281
, booktitle = {
Vision, Modeling & Visualization
}, editor = {
Jan Bender and Arjan Kuijper and Tatiana von Landesberger and Holger Theisel and Philipp Urban
}, title = {{
A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping
}}, author = {
May, Stefan
and
Koch, Philipp
and
Koch, Rainer
and
Merkl, Christian
and
Pfitzner, Christian
and
Nüchter, Andreas
}, year = {
2014
}, publisher = {
The Eurographics Association
}, ISBN = {
978-3-905674-74-3
}, DOI = {
/10.2312/vmv.20141281
} }
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