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Authors: Abdennour Aouina 1 ; Michel Devy 1 and Antonio Marin-Hernandez 2

Affiliations: 1 Université de Toulouse, France ; 2 Universidad Veracruzana, Mexico

Keyword(s): 3D sensors, Resolution, View Field, Scene Modeling, Acquisition from Mobile Robots.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: 3D perception has known impressive advances in the past 3 years; it corresponds to several technological improvements, plus many new development teams providing open sources. First of all, researchers in Robotics and 3D Perception have made profit of the Kinect sensor; some works were already devoted to 3D cameras, using more expensive Time-of-Flight optical devices. Another common way to acquire dense 3D data, is by scanning the environment by a laser range finder (LRF); as for example, the Hokuyo tilting LRF integrated on the PR2 robot by Willow Garage. To build a dense geometrical model of an indoor environment, several sensors could be selected in order to acquire 3D data. This paper aims at giving some insights on this selection, presenting some pros and cons for Kinect, Hokuyo and ToF optical sensors.

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Paper citation in several formats:
Aouina, A.; Devy, M. and Marin-Hernandez, A. (2013). Comparison of Active Sensors for 3D Modeling of Indoor Environments. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-70-9; ISSN 2184-2809, pages 442-449. DOI: 10.5220/0004485004420449

@conference{icinco13,
author={Abdennour Aouina. and Michel Devy. and Antonio Marin{-}Hernandez.},
title={Comparison of Active Sensors for 3D Modeling of Indoor Environments},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={442-449},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004485004420449},
isbn={978-989-8565-70-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Comparison of Active Sensors for 3D Modeling of Indoor Environments
SN - 978-989-8565-70-9
IS - 2184-2809
AU - Aouina, A.
AU - Devy, M.
AU - Marin-Hernandez, A.
PY - 2013
SP - 442
EP - 449
DO - 10.5220/0004485004420449

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