Pose Estimation and Map Building with a PMD-Camera for Robot Navigation

In this paper we describe a joint approach for robot navi- gation with collision avoidance, pose estimation and map building with a 2.5D PMD (Photonic Mixer Device)-Camera combined with a high- resolution spherical camera. The cameras are mounted at the front of the robot with a certain inclination angle. The navigation and map building consists of two steps: When entering new terrain the robot first scans the surrounding. Simultaneously a 3D-panorama is gener- ated from the PMD-images. In the second step the robot moves along the predefined path, using the PMD-camera for collision avoidance and a combined Structure-from-Motion (SfM) and model-tracking approach for self-localization. The computed poses of the robot are simultaneously used for map building with new measurements from the PMD-camera.

[1]  Andreas Kolb,et al.  Lateral and Depth Calibration of PMD-Distance Sensors , 2006, ISVC.

[2]  Reinhard Koch,et al.  Calibration of focal length and 3D pose based on the reflectance and depth image of a planar object , 2008, Int. J. Intell. Syst. Technol. Appl..

[3]  Robert Lange,et al.  3D time-of-flight distance measurement with custom solid-state image sensors in CMOS/CCD-technology , 2006 .

[4]  S. E. Ghobadi,et al.  First steps in enhancing 3D vision technique using 2D/3D sensors , 2006 .

[5]  J. M. M. Montiel,et al.  The SPmap: a probabilistic framework for simultaneous localization and map building , 1999, IEEE Trans. Robotics Autom..

[6]  Brian Yamauchi.  Mobile robot localization in dynamic environments using dead reckoning and evidence grids , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Hubert Roth,et al.  3D ARTIFICIAL LANDMARK DESIGN AND RECOGNITION FOR MOBILE ROBOTS , 2006 .

[8]  Carlo Tomasi,et al.  Good features to track , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[9]  Florent Lamiraux,et al.  Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[10]  Ewald von Puttkamer,et al.  Keeping track of position and orientation of moving indoor systems by correlation of range-finder scans , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[11]  A. Prusak,et al.  APPLICATION OF 3D-PMD VIDEO CAMERAS FOR TASKS IN THE AUTONOMOUS MOBILE ROBOTICS , 2005 .

[12]  Reinhard Koch,et al.  Supporting Structure from Motion with a 3D-Range-Camera , 2007, SCIA.

[13]  H. Roth,et al.  POSITION CALIBRATION OF A MOBILE ROBOT BASED ON 3D VISION , 2005 .

[14]  Reinhard Koch,et al.  Drift-free Pose Estimation with Hemispherical Cameras , 2006 .

[15]  Alan C. Schultz,et al.  Integrating Exploration, Localization, Navigation and Planning with a Common Representation , 1999, Auton. Robots.

[16]  Pavel Krsek,et al.  The Trimmed Iterative Closest Point algorithm , 2002, Object recognition supported by user interaction for service robots.