Real-Time 3D Environment Model for Obstacle Detection and Collision Avoidance with a Mobile Service Robot

被引：0
|
作者：
Kuehnle, J. U. [1 ]
Danzer, M. [2 ]
Verl, A. [1 ]
Bischoff, R. [2 ]
机构：
[1] Fraunhofer Inst Mfg Engn & Automat IPA, Nobelstr 12, D-70569 Stuttgart, Germany
[2] KUKA Roboter GmbH, D-86165 Augsburg, Germany
来源：
INTELLIGENT ROBOTS AND COMPUTER VISION XXVII: ALGORITHMS AND TECHNIQUES | 2010年 / 7539卷
关键词：
3D environment model; obstacle detection; collision avoidance; mobile service robots; 3D time-of-flight camera; general-purpose computation on graphics processing unit;
D O I：
10.1117/12.838988
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.
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页数：10
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