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Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
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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).
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 Modeller (and previously the Laser-range Scanner) was developed and applied during the following projects
The following people are involved in the 3 D Modeller project
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