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The self-referenced DLR 3D-modeler

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8 Author(s)
Strobl, K.H. ; German Aerosp. Center (DLR), Inst. of Robot. & Mechatron., Wessling, Germany ; Mair, E. ; Bodenmuller, T. ; Kielhofer, S.
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In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary 3-D modeling of the scene. The use of stereo vision, an inertial measurement unit, and robust cost functions for pose estimation further increases performance. Demonstrations and abundant video material validate the approach.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009