DLR - Institute of Robotics and Mechatronics

The DLR Multisensory 3D-Modeller (3DMo)

A “Multisensory 3D modeller” was developed to evaluate different sensor principles and sensor fusion for the generation of photorealistic 3D models. The Modeller can be used hand-guided or automated on a robotic system. Thus, robots should be able to build a photorealistic model of their environment by moving around an end effector equipped with different sensors (a so-called Eye-in-Hand system)

Sensor Components

The Multisensory 3D-Modeller integrates to date 3 range sensing principles, a laser-range scanner, a laser-stripe profiler, and stereo vision as well as surface texture acquisition

Sensor Synchronisation and Calibration

The concept of multisensory data acquisition in real-time, as realized by the DLR Multisensory 3D-Modeller, demands a time synchronisation concept as well as spatial calibration routines to display the 3D sensor data in the same world coordinate frame.

The DLR Multisensory 3D-Modeller (3DMo)

Sensor Components

Sensor Synchronisation and Calibration

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