Author name cluster

Simon Kielhöfer

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers

1 author row

IROS Conference 2011 Conference Paper

DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics

Simon Kielhöfer
Thomas Bahls
Franz Hacker
Tilo Wüsthoff
Michael Suppa

Precise and robust perception of the environment is crucial for highly integrated and autonomous robot systems. In this paper the dedicated design of a triangulation based laser range scanner optimized for 3D-modelling and autonomous exploration in robotics is presented. The presented laser scanner design is based on an extremely small MEMS scan head permitting a compact, lightweight and highly integrated implementation allowing for hand-eye operation. Special capabilities like variable range and confidence rating of the measuring values increase robustness. The design considerations and a prototype are described and experimental results are presented.

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IROS Conference 2009 Conference Paper

The self-referenced DLR 3D-modeler

Klaus H. Strobl
Elmar Mair
Tim Bodenmüller
Simon Kielhöfer
Wolfgang Sepp
Michael Suppa
Darius Burschka
Gerhard Hirzinger

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.

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ICRA Conference 2007 Conference Paper

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

Michael Suppa
Simon Kielhöfer
Jörg Langwald
Franz Hacker
Klaus H. Strobl
Gerhard Hirzinger

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.

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