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

Authors:
Stefan May;Stefan Fuchs;David Droeschel;Dirk Holz;Andreas Nüchter
Affiliations:
Fraunhofer Insitute for Intelligent Analysis and Information Systems;German Aerospace Center, Inst. of Robotics and Mechatronics;Fraunhofer Insitute for Intelligent Analysis and Information Systems;Bonn-Rhein-Sieg University of Applied Sciences;Jacobs University Bremen
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

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.