A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping
Loading...
Date
2014
Journal Title
Journal ISSN
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.
Description
@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}
}