A characterization of 3d sensors for response robots

Authors:
Jann Poppinga;Andreas Birk;Kaustubh Pathak
Affiliations:
Jacobs University Bremen, Bremen, Germany;Jacobs University Bremen, Bremen, Germany;Jacobs University Bremen, Bremen, Germany
Venue:
RoboCup 2009
Year:
2010

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Abstract

Sensors that measure range information not only in a single plane are becoming more and more important for mobile robots, especially for applications in unstructured environments like response missions where 3D perception and 3D mapping is of interest. Three such sensors are characterized here, namely a Hokuyo URG-04LX laser scanner actuated with a servo in a pitching motion, a Videre STOC stereo camera and a Swissranger SR-3000. The three devices serve as prototypical examples of the according technologies, i.e., 3D laser scanners, stereo vision and time-of-flight cameras.