The self-referenced DLR 3D-modeler

  • Authors:

  • K. H. Strobl;E. Mair;T. Bodenmüller;S. Kielhöfer;W. Sepp;M. Suppa;D. Burschka;G. Hirzinger

  • Affiliations:

  • Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany;Department of Informatics, Technische Universität München, Garching, Germany;Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany;Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany;Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany;Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany;Department of Informatics, Technische Universität München, Garching, Germany and Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany;Institute of Robotics and Mechatronics German Aerospace Center, DLR, Wessling, Germany and Department of Informatics, Technische Universität München, Garching, Germany

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

Quantified Score

Hi-index 0.00

Visualization

Abstract

In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary 3-D modeling of the scene. The use of stereo vision, an inertial measurement unit, and robust cost functions for pose estimation further increases performance. Demonstrations and abundant video material validate the approach.