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Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
Institute of System Dynamics and Control
Institute for Optical Sensor Systems
Hand Arm System
Telepresence & VR
Aircraft Systems Dynamics
Control Methods & Tools
Industrial Robot Control
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The ever increasing need for 3D models in robotics and Virtual Reality/Augmented Reality applications require a closer look at this widespread research field. The prerequisites range from fast, i.e. online, model generation, highly accurate models for collision detection and avoidance to photo-realistic models used in VR, i.e. telepresence and tele-operation scenarios. To gain the appropriate model for the desired application, a wide range of sensors and several data processing steps are necessary.
Online Surface Reconstruction
The development of range sensors allows for generating 3D models by contact-less measurement of the desired objects surface. These models can be used for virtual reality applications, like virtual museums or product presentations, but also for path planning and collision avoidance in the robotic field.
Stereo Image Algorithms
Ordinary cameras capture images by projecting light of a three dimensional scene onto a two dimensional plane (i.e. the image plane). Due to this process, one dimension is lost. This dimension is the depth of an image, i.e. the distance between the camera and objects in the scene.
Texture mapping adds a (photo-)realistic impression to a give n 3-D model by linking each surface path of the model with an image, called texture. Often, pre-defined, synthetic textures are used for the 3-D models. Here, the real texture of the model is gathered by moving a camera around the real object in question.
Autonomous C-Space Exploration and Object Inspection
The Multisensory 3D-Modeller, developed at the Institute of Robotics and Mechatronics, acquires 3-D information about the environment. This device consists of a 7-dof passive manipulator mounted with four different types of sensors: a light-stripe sensor, a laser-range scanner, a passive stereo vision sensor, and a texture sensor.
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