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

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dc.contributor.authorMay, Stefanen_US
dc.contributor.authorKoch, Philippen_US
dc.contributor.authorKoch, Raineren_US
dc.contributor.authorMerkl, Christianen_US
dc.contributor.authorPfitzner, Christianen_US
dc.contributor.authorNüchter, Andreasen_US
dc.contributor.editorJan Bender and Arjan Kuijper and Tatiana von Landesberger and Holger Theisel and Philipp Urbanen_US
dc.date.accessioned2014-12-16T07:26:28Z
dc.date.available2014-12-16T07:26:28Z
dc.date.issued2014en_US
dc.description.abstractThis 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.en_US
dc.description.seriesinformationVision, Modeling & Visualizationen_US
dc.identifier.isbn978-3-905674-74-3en_US
dc.identifier.urihttps://doi.org/10.2312/vmv.20141281en_US
dc.publisherThe Eurographics Associationen_US
dc.titleA Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mappingen_US
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