The self-referenced DLR 3D-modeler

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.

Authors

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

Keywords

• Three dimensional displays
• Robot sensing systems
• Solid modeling
• Digital cameras
• Layout
• Visual perception
• Application software
• Robot vision systems
• Intelligent robots
• Real time systems
• Inertial Measurement Unit
• Pose Estimation
• Stereopsis
• Scene Model
• Rotational Speed
• Tracking System
• Singular Value Decomposition
• Optical Flow
• Motion Model
• Real-time Estimation
• Stochastic Approach
• Robot Manipulator
• Close Range
• Camera Pose
• Stereo Camera
• Camera Motion
• Relative Pose
• Inertial Measurement Unit Data
• Synchronization Accuracy
• Accuracy Of Pose Estimation
• Approach Of Ref
• Pose Estimation Methods
• Motion Estimation
• Real-time Capability
• Camera Pose Estimation
• Rotated Component
• Position Estimation
• Modification Of Algorithm