Pose estimation and map building with a Time-Of-Flight-camera for robot navigation

Authors:
A. Prusak;O. Melnychuk;H. Roth;I. Schiller;R. Koch
Affiliations:
Institute of Automatic Control Engineering, University of Siegen, Siegen 57068, Germany.;Institute of Automatic Control Engineering, University of Siegen, Siegen 57068, Germany.;Institute of Automatic Control Engineering, University of Siegen, Siegen 57068, Germany.;Institute of Computer Science, Christian-Albrechts-University of Kiel, Kiel 24098, Germany.;Institute of Computer Science, Christian-Albrechts-University of Kiel, Kiel 24098, Germany
Venue:
International Journal of Intelligent Systems Technologies and Applications
Year:
2008

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Abstract

In this paper, we describe a joint approach for robot navigation with collision avoidance, pose estimation and map building with a 2.5D Photonic Mixer Device (PMD)-camera combined with a high-resolution spherical camera. The cameras are mounted at the front of the robot with a certain inclination angle. The navigation and map building consists of two steps: when entering new terrain the robot first scans the surrounding. Simultaneously a 3D-panorama is generated from the PMD-images. In the second step, the robot moves along the pre-defined path, using the PMD-camera for collision avoidance and a combined Structure-from-Motion (SfM) and model-tracking approach for self-localisation. The computed poses of the robot are simultaneously used for map building with new measurements from the PMD-camera.