A Characterization of 3D Sensors for Response Robots

  • Jann Poppinga
  • Andreas Birk
  • Kaustubh Pathak
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5949)


Sensors that measure range information not only in a single plane are becoming more and more important for mobile robots, especially for applications in unstructured environments like response missions where 3D perception and 3D mapping is of interest. Three such sensors are characterized here, namely a Hokuyo URG-04LX laser scanner actuated with a servo in a pitching motion, a Videre STOC stereo camera and a Swissranger SR-3000. The three devices serve as prototypical examples of the according technologies, i.e., 3D laser scanners, stereo vision and time-of-flight cameras.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Jann Poppinga
    • 1
  • Andreas Birk
    • 1
  • Kaustubh Pathak
    • 1
  1. 1.Jacobs University BremenBremenGermany

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