Abstract
A Time-of-Flight camera can help a service robot to sense its 3D environment. The modeled environment information can be used by motion planning algorithms to plan a collision free movement for the robot, or by grasp planning algorithms to find feasible grasps for an a priori unknown object in the scene. To guarantee that the models used by the planning algorithms are consistent with the real world, calibration of the Time-of-Flight camera is necessary. In this article, the intrinsic and extrinsic parameter calibration procedures applied in the DESIRE project are presented. A segmentation using GPU calculation is used to separate the sensed model and a priori information of the environment. We use a motion planning algorithm based on Probabilistic Roadmaps to plan collision free movement for the DESIRE platform.
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Xue, Z., Küehnle, J., Rüehl, S.W., Dillmann, R. (2012). Motion Planning Using a ToF Camera for Manipulation in Cluttered Environments. In: Prassler, E., et al. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics, vol 76. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25116-0_24
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DOI: https://doi.org/10.1007/978-3-642-25116-0_24
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