The 3D-Modeller: A Multi-Purpose Vision Platform

This paper deals with the concept and implementation of a multi-purpose vision platform. In robotics, numerous applications require perception. A multi-purpose vision platform suited for object recognition, cultural heritage preservation and visual servoing at the same time is missing. In this work, we draw attention to the design principles for such a vision platform. We present its implementation, the 3D-Modeller. In specifying and combining multiple sensors, laser-range scanner, laser-stripe profiler and stereo vision, we derive the required mechanical and electrical hardware design. The concepts for synchronization and communication round off our approach. Precision and frame rate are presented. We illustrate the versatility of the 3D-Modeller by addressing four applications: 3D-modeling, exploration, tracking and object recognition. Due to its low weight and generic mechanical interface, it can be mounted on industrial robots, humanoids, or free-handed as well. The 3D-Modeller is flexibly applicable, not only in research but also in industry, especially in small batch assembly.