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Michael Suppa, Gerd Hirzinger

An Eye-in-Hand System for Multisensor Surface Reconstruction of 3D-Models in Robotics

A novel system approach to multisensory data acquisition and data fusion is presented. The DLR multisensory 3D-modeler, which integrates a laser-range scanner, a laser-stripe sensor, a texture sensor, and a stereo vision system is introduced. To determine the pose (position and orientation) of the modeler, a passive manipulator or an optical tracking system is used. The system properties motivated a knowledge transfer to a robotic system used for automatic 3D-modelling (inspection). Therefore, the robot´s configuration space needs to be explored, giving the robot a high maneuverability, also close to obstacles, which are initially unknown/partially known. This requires an efficient view plan considering noisy sensor data.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 53, 07/2005
Pages: 322 - 331

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