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2016 | OriginalPaper | Buchkapitel

A Comparison of 3D Sensors for Wheeled Mobile Robots

verfasst von : Gerald Rauscher, Daniel Dube, Andreas Zell

Erschienen in: Intelligent Autonomous Systems 13

Verlag: Springer International Publishing

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Abstract

3D sensors are used for many different applications, e.g., scene reconstruction, object detection, and mobile robots, etc. Several studies on usability and accuracy have been done for different sensors. However, all these studies have used different settings for the different sensors. For this reason we compare five 3D sensors, including the structured light sensors Microsoft Kinect and ASUS Xtion Pro Live, and the time of flight sensors Fotonic E70P, IFM O3D200 and Nippon Signal FX6, using the same settings. The sensor noise, absolute error, and point detection rates are compared for different depth values, environmental illumination, and different surfaces. Also, simple models of the noise depending on the measured depth are proposed. It is found that structured light sensors are very accurate for close ranges. The time of flight sensors have more noise, but the noise does not increase as strongly with the measured distance. Further, it is found that these sensors can be used for outdoor applications.

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Vorheriges Kapitel Design of a Low-Cost Vision System for Laser Profilometry Aiding Smart Vehicles Movement
Nächstes Kapitel Adaptive Model-Based Monitoring for Robots
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Metadaten
Titel
A Comparison of 3D Sensors for Wheeled Mobile Robots
verfasst von
Gerald Rauscher
Daniel Dube
Andreas Zell
Copyright-Jahr
2016
Buch
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_3

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