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Laser-Based Navigation Enhanced with 3D Time-of-Flight Data
Applied Informatics, Bielefeld University, 33615 Bielefeld, Germany.
Applied Informatics, Bielefeld University, 33615 Bielefeld, Germany.
Robotics and Artificial Intelligence Lab., Stanford University, Stanford, 94305, United States.ORCID iD: 0000-0003-3513-8854
Applied Informatics, Bielefeld University, 33615 Bielefeld, Germany.
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2009 (English)In: Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, Washington, DC: IEEE Computer Society, 2009, 2844-2850 p.Conference paper, Published paper (Refereed)
Abstract [en]

Navigation and obstacle avoidance in robotics using planar laser scans has matured over the last decades. They basically enable robots to penetrate highly dynamic and populated spaces, such as people's home, and move around smoothly. However, in an unconstrained environment the twodimensional perceptual space of a fixed mounted laser is not sufficient to ensure safe navigation. In this paper, we present an approach that pools a fast and reliable motion generation approach with modern 3D capturing techniques using a Timeof-Flight camera. Instead of attempting to implement full 3D motion control, which is computationally more expensive and simply not needed for the targeted scenario of a domestic robot, we introduce a "virtual laser". For the originally solely laserbased motion generation the technique of fusing real laser measurements and 3D point clouds into a continuous data stream is 100% compatible and transparent. The paper covers the general concept, the necessary extrinsic calibration of two very different types of sensors, and exemplarily illustrates the benefit which is to avoid obstacles not being perceivable in the original laser scan.

Place, publisher, year, edition, pages
Washington, DC: IEEE Computer Society, 2009. 2844-2850 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
3D motion, 3D point cloud, Continuous data, Domestic robots, Extrinsic calibration, Laser measurements, Laser scans, Motion generation, Obstacle avoidance, Planar laser, Time-of-flight cameras, Time-of-flight data
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:hh:diva-20132DOI: 10.1109/ROBOT.2009.5152533ISI: 000276080401049Scopus ID: 2-s2.0-70350380716ISBN: 978-1-4244-2788-8 ISBN: 978-1-4244-2789-5 OAI: oai:DiVA.org:hh-20132DiVA: diva2:577028
Conference
IEEE International Conference on Robotics and Automation, Kobe, JAPAN, MAY 12-17, 2009
Available from: 2012-12-14 Created: 2012-12-14 Last updated: 2013-11-15Bibliographically approved

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CiteExportLink to record
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Citation style
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