A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping

May, Stefan; Koch, Philipp; Koch, Rainer; Merkl, Christian; Pfitzner, Christian; Nüchter, Andreas

A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping

Files

095-102.pdf (3.41 MB)

Date

2014

Authors

May, Stefan
Koch, Philipp
Koch, Rainer
Merkl, Christian
Pfitzner, Christian
Nüchter, Andreas

Publisher

The Eurographics Association

Abstract

This paper describes a data integration approach for arbitrary 2D/3D depth sensing units exploiting assets of the signed distance function. The underlying framework generalizes the KinectFusion approach with an objectoriented model respecting different sensor modalities. For instance, measurements of 2D/3D laser range finders and RGB-D cameras can be integrated into the same representation. Exemplary, an environment is reconstructed with a 3D laser range finder, while adding fine details from objects of interest by closer inspection with an RGB-D sensor. A typical application of this approach is the exploration in rescue environments, where large-scale mapping is performed on the basis of long-range laser range finders while hollows are inspected with lightweight sensors attached to a manipulator arm.

        @inproceedings{:10.2312/vmv.20141281
,
booktitle = {Vision, Modeling & Visualization
},
editor = {Jan Bender and Arjan Kuijper and Tatiana von Landesberger and Holger Theisel and Philipp Urban
},
title = {{A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping
}},
author = {May, Stefan and 
Koch, Philipp and 
Koch, Rainer and 
Merkl, Christian and 
Pfitzner, Christian and 
Nüchter, Andreas
},
year = {2014
},
publisher = {The Eurographics Association
},
ISBN = {978-3-905674-74-3
},
DOI = {/10.2312/vmv.20141281
}
}