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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)
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)
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)
Time-of-flight cameras constitute a smart and fast technology for 3D perception but lack in measurement precision and robustness. The authors present a comprehensive approach for 3D environment mapping based on this technology. Imprecision of depth measurements are properly handled by calibration and application of several filters. Robust registration is(More)
This paper presents a method for precise surface reconstruction with time-of-flight (TOF) cameras. A novel calibration approach which simplifies the calibration task and doubles the camera’s precision is developed and compared to current calibration methods. Remaining errors are tackled by applying filter and error distributing methods. Thus, a reference(More)
Since their invention nearly a decade ago, Time-of-Flight (ToF) cameras have attracted attention in many fields, e.g. automotive engineering, industrial engineering, mobile robotics and surveillance. So far, 3D laser scanners and stereo camera systems are mostly used for these tasks due to their high measurement range and precision. Stereo vision requires(More)
Road segmentation, obstacle detection, situation awareness constitute fundamental tasks for autonomous vehicles in urban environments. This paper describes an end-to-end system capable of generating high-quality 3D point clouds from one or two of the popular LMS200 laser on a continuously moving vehicle.
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)