Abstract
3D data acquisition gets increasingly important for mobile robotics in general and for Safety, Security and Rescue Robotics (SSRR) in particular. 3D data allows for example to estimate the size of gaps, to construct realistic maps of unstructured disaster environments, or to detect human victims from shape. The SwissRanger SR-3000 time-of-flight 3D camera is a popular device for acquiring 3D range data as it offers the fast update rates of a camera with a resolution of 176 × 144 pixel at a reasonable cost. But the SR-3000 suffers - like any device using phase differences of modulated light - from the fundamental problem of wrap around error, i.e., distances that are a multiple of the wavelength of the modulated ranging signal can not be distinguished. The standard solution to this problem is to use an amplitude threshold, i.e., to discard pixels which are relatively dark and hence assumed to be far away. Here, a significant improvement to the standard method is presented that relates measured brightness and distance and also takes the geometry of the modulated light source into account. It is shown that a significantly higher amount of valid range data can be acquired with this new method.
This work was supported by the German Research Foundation (DFG).
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Howard, A., Wolf, D.F., Sukhatme, G.S.: Towards 3D mapping in large urban environments. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan (2004)
Thrun, S., Haehnel, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C., Omohundro, Z., Thayer, S., Whittaker, W.: A system for volumetric robotic mapping of abandoned mines. In: Proc. IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan (2003)
Hähnel, D., Burgard, W., Thrun, S.: Learning compact 3D models of indoor and outdoor environments with a mobile robot. Robotics and Autonomous Systems 44(1), 15–27 (2003)
Davison, J., Kita, N.: 3D simultaneous localisation and map-building using active vision for a robot moving on undulating terrain. In: IEEE Conference on Computer Vision and Pattern Recognition, Hawaii, December 8-14 (2001)
Liu, Y., Emery, R., Chakrabarti, D., Burgard, W., Thrun, S.: Using em to learn 3d models of indoor environments with mobile robots. In: 18th Conf. on Machine Learning, Williams College (2001)
Nüchter, A., Wulf, O., Lingemann, K., Hertzberg, J., Wagner, B., Surmann, H.: 3D mapping with semantic knowledge. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 335–346. Springer, Heidelberg (2006)
Poppinga, J., Birk, A., Pathak, K.: Hough based terrain classification for realtime detection of drivable ground. Journal of Field Robotics 25(1-2), 67–88 (2008)
Wulf, O., Wagner, B.: Fast 3D-scanning methods for laser measurement systems. In: International Conference on Control Systems and Computer Science (CSCS 14) (2003)
Surmann, H., Nuechter, A., Hertzberg, J.: An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments. Robotics and Autonomous Systems 45(3-4), 181–198 (2003)
Wulf, O., Brenneke, C., Wagner, B.: Colored 2D maps for robot navigation with 3D sensor data. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 3, pp. 2991–2996. IEEE Press, Los Alamitos (2004)
Weingarten, J., Gruener, G., Siegwart, R.: A state-of-the-art 3D sensor for robot navigation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 3, pp. 2155–2160. IEEE Press, Los Alamitos (2004)
CSEM: The SwissRanger, Manual V1.02. CSEM SA, 8048 Zurich, Switzerland (2006)
Lange, R., Seitz, P.: Solid-state time-of-flight range camera. IEEE Journal of Quantum Electronics 37(3), 390–397 (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Poppinga, J., Birk, A. (2009). A Novel Approach to Efficient Error Correction for the SwissRanger Time-of-Flight 3D Camera. In: Iocchi, L., Matsubara, H., Weitzenfeld, A., Zhou, C. (eds) RoboCup 2008: Robot Soccer World Cup XII. RoboCup 2008. Lecture Notes in Computer Science(), vol 5399. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02921-9_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-02921-9_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02920-2
Online ISBN: 978-3-642-02921-9
eBook Packages: Computer ScienceComputer Science (R0)