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— Recently developed 3D time-of-flight cameras have an enormous potential for mobile robotic applications in particular for mapping and navigation tasks. This paper presents a new approach for online adaptation of different camera parameters to environment dynamics. These adaptations allow the usage of state-of-the-art 3D cameras reliably in real world(More)
This article investigates the use of time-of-flight (ToF) cameras in mapping tasks for autonomous mobile robots, in particular in simultaneous localization and mapping May et al.: 3D Mapping with Time-of-Flight Cameras • 935 (SLAM) tasks. Although ToF cameras are in principle an attractive type of sensor for three-dimensional (3D) mapping owing to their(More)
Nearest Neighbor Search (NNS) is employed by many computer vision algorithms. The computational complexity is large and constitutes a challenge for real-time capability. The basic problem is in rapidly processing a huge amount of data, which is often addressed by means of highly sophisticated search methods and parallelism. We show that NNS based vision(More)
— Automatic sensing of the environment is a fundamental scientific issue in robotics, since it is essential for autonomous mobile robot systems. In previous works, we presented a 6D SLAM algorithm which is based on the spatial data from the AIS 3D Laser Scanner and a variant of the iterative closest points algorithm (ICP). In this paper we focused on the(More)
— This paper presents an approach to estimate the ego-motion of a robot while moving. The employed sensor is a Time-of-Flight (ToF) camera, the SR3000 from Mesa Imaging. ToF cameras provide depth and reflectance data of the scene at high frame rates. The proposed method utilizes the coherence of depth and reflectance data of ToF cameras by detecting image(More)
— This work focuses on the relevance of visual attention in affordance-inspired robotics. Among all approaches in robotics related to Gibson's concept of affordances [1] the dealing with attention cues is only rudimentary. We are introducing this concept within the perception layer of our affordance-inspired robotic framework. In this context we present a(More)
— The computational complexity of SLAM is large and constitutes a challenge for real-time processing of a huge amount of sensor data with the limited resources of a mobile robot. Often, notebooks are used to control a mobile system and even these computing devices have nowadays graphics cards which allow general purpose computation using many cores. SLAMà(More)