3D Multi-Sensor Data Fusion for Object Localization in Industrial Applications

This paper describes a data fusion approach for 3D sensors exploiting assets of the signed distance function. The objectoriented model is described as well as the algorithm design. We developed a framework respecting different modalities for multi-sensor fusion, 3D mapping and object localization. This approach is suitable for industrial applications having need for contact-less object localization like bin picking. In experiments we demonstrate 3D mapping as well as sensor fusion of a structured light sensor with a Time-of-Flight (ToF) camera.