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IROS
2009
IEEE

Robust 3D-mapping with time-of-flight cameras

9 years 4 days ago
Robust 3D-mapping with time-of-flight cameras
— 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 performed by a novel extension to the Iterative Closest Point algorithm. Remaining registration errors are reduced by global relaxation after loop-closure and surface smoothing. A laboratory ground truth evaluation is provided as well as 3D mapping experiments in a larger indoor environment.
Stefan May, David Droeschel, Stefan Fuchs, Dirk Ho
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Stefan May, David Droeschel, Stefan Fuchs, Dirk Holz, Andreas Nüchter
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