The Multisensory DLR 3D-Modeler (3dMo)

7 July 2008

A multisensory 3-D modeler was developed to evaluate different sensor principles and fusion their output data for the generation of photorealistic 3-D models. The DLR 3D-Modeler can be used hand-guided or automated on a robotic system. In this way, robots are able to build a photorealistic model of their environment by moving around an end effector equipped with the sensor head (so-called eye-in-hand system).

The DLR 3D-Modeler consists of a core module and application-specific extensions. The core module, hereafter called modeler, comprehends two digital cameras, a miniaturized rotating laser scanner and two laser line modules. Furthermore it features a small embedded computer to provide internal computing power and a graphical color display. The modeler can be attached to a handhold with various input buttons or to a robot via an industrial quick-changing adaptor. On the sides, markers can be attached for IR-based, optical pose tracking. Alternatively, an inertial measurement unit (IMU) can be attached.

Due to the modular design the system allows both hand-guided operation and automated robotic applications. Three mechanically identical free-of-play couplers enable quick and easy exchangeability of all components. The DLR 3D-Modeler can be operated manually using the handhold buttons and the display menu or controlled remotely.

The sensor devices implemented with the 3d-Modeller are

As explained above, IR-reflecting markers can be attached to the DLR 3D-Modeler in order to provide contact-free pose tracking without the need of a robotic manipulator or an external positioning system like the FaroArm. We predominantly used the ARTtrack2 system for optical pose tracking. That system does, however, severely constrain the DLR 3D-Modeler in terms of size, potential mobility, and cost. For this reason, we opted for a novel implementation of passive pose tracking using the high-rate images of the stereo camera. The system is now called self-referenced DLR 3D-Modeler and is featured in the following video.

 

3dmo-1-1024.JPG 3dmo-transp3-1024
3DMo-justin-kopf-1024

 

Selected Publications

K. H. Strobl. Loop Closing for Visual Pose Tracking during Close-Range 3-D Modeling. In G. Bebis et al. (Eds.): ISVC 2014, Part I, LNCS 8887, pp. 390--401. Springer International Publishing Switzerland (2014).

K. H. Strobl and G. Hirzinger. More Accurate Pinhole Camera Calibration with Imperfect Planar Target. Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011.

K. H. Strobl, E. Mair, and G. Hirzinger. Image-Based Pose Estimation for 3-D Modeling in Rapid, Hand-Held Motion. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, pp. 2593-2600, May 2011.

E. Mair, K. H. Strobl, T. Bodenmüller, M. Suppa, and D. Burschka. Real-time Image-based Localization for Hand-held 3D-modeling. KI – Künstliche Intelligenz, vol. 24, no. 3, pp. 207-214, May 2010.

K. H. Strobl, E. Mair, T. Bodenmüller, S. Kielhöfer, W. Sepp, M. Suppa, D. Burschka, and G. Hirzinger. The Self-Referenced DLR 3D-Modeler. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, USA, pp. 21-28, October 2009, best paper finalist.

K. H. Strobl, W. Sepp, and G. Hirzinger. On the Issue of Camera Calibration with Narrow Angular Field of View. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, USA, pp. 309-315, October 2009.

E. Mair, K. H. Strobl, M. Suppa, and D. Burschka. Efficient Camera-Based Pose Estimation for Real-Time Applications. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, USA, pp. 2696-2703, October 2009.

Strobl, Klaus und Hirzinger, Gerd (2008) More Accurate Camera and Hand-Eye Calibrations with Unknown Grid Pattern Dimensions. In: Proceedings of ICRA 2008, Seiten 1398-1405. IEEE International Conference on Robotics and Automation, 2008-05-19 - 2008-05-23, Pasadena, CA (USA).

Bodenmüller, Tim und Sepp, Wolfgang und Suppa, Michael und Hirzinger, Gerd (2007) Tackling Multi-sensory 3D Data Acquisition and Fusion. In: Proceedings of IROS, Seiten 2180-2185. IEEE. RSJ International Conference on Intelligent Robots and Systems, 2007-10-29 - 2007-11-02, San Diego, CA, USA.

Suppa, Michael und Kielhöfer, Simon und Langwald, Jörg und Hacker, Franz und Strobl, Klaus und Hirzinger, Gerd (2007) The 3D-Modeller: A Multi-Purpose Vision Platform. In: Proceedings. IEEE. International Conference on Robotics and Automation, ICRA, 2007-04-10 - 2007-04-14, Rome (Italy).

Strobl, Klaus H. und Hirzinger, Gerhard (2006) Optimal Hand-Eye Calibration. In: Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.

Hirschmüller, Heiko (2005) Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information. In: IEEE Conference on Computer Vision and Pattern Recognition, 2, Seiten 807-814. IEEE. CVPR 2005, 2005-06-20 - 2005-06-25, San Diego. ISBN 0-76952372-2. ISSN 1063-6919

Hirzinger, G. und Bodenmüller, T. und Hirschmüller, H. und Liu, R. und Sepp, W. und Suppa, M. und Abmayr, T. und Strackenbrock, B. (2005) Photo-realistic 3D modelling - From robotics perception towards cultural heritage. International Workshop on Recording, Modeling and Visualization of Cultural Heritage, Asona, Switzerland, May 22-27, 2005.

Bodenmüller, T. und Hirzinger, G. (2004) Online Surface Reconstruction from Unorganized 3D-Points for the DLR Hand-Guided Scanner System. In: Proceedings, Seiten 285-292. 2nd Symposium on 3D Data Processing, Visualization and Transmission, Thessaloniki, Greece, Sept. 6-9, 2004.

Suppa, M. und Wang, P. und Gupta, K. und Hirzinger, G. (2004) C-space Exploration Using Noisy Sensor Models. In: Proceedings, Seiten 4777-4782. IEEE International Conference on Robotics and Automation ICRA, New Orleans, Louisiana, USA, April 26 - May 1, 2004.

Strobl, K.H. und Sepp, W. und Wahl, E. und Bodenmüller, T. und Suppa, M. und Seara, J.F. und Hirzinger, G. (2004) The DLR Multisensory Hand-Guided Device: The Laser Stripe Profiler. In: Proceedings, Seiten 1927-1932. IEEE International Conference on Robotics and Automation ICRA, New Orleans, Louisiana, USA, April 26 - May 1, 2004.

Suppa, M. und Hirzinger, G. (2004) A Novel System Approach to Multisensory Data Acquisition. In: Intelligent Autonomous Systems 8 (IAS-8), Seiten 996-1004. IOS Press, Amsterdam. Intelligent Autonomous Sytems 8 (IAS-8), Amsterdam, March 10-13, 2004. ISBN 1 58603 414 6.

Wahl, E. und Hillenbrand, U. und Hirzinger, G. (2003) Surflet-Pair-Relation Histograms: A Statistical 3D-Shape representation for Rapid Classification. 3D-Digital Imaging and Modeling (3DIM), Banff, Canada, October 2003.

Sepp W., und Hirzinger G., (2003) Real-Time Texture-Based 3-D Tracking. In: Proceedings of the 25th DAGM Symposium on Pattern Recognition (DAGM 2003), Seiten 330-337. Springer Verlag. DAGM'03-25th Pattern Recognition Symposium, Magdeburg (Germany), September 10-12 2003.

Hacker, F. und Dietrich, J. und Hirzinger, G. (1997) A laser-triangulation based miniaturized 2-d range-scanner as integral part of a multisensory robot-gripper. In: Proceedings EOS 14th Topical Meeting on Optoelectronic Distance/ Displacement Measurements and Applications, Ecole des Mines de Nantes. Ecole des Mines de Nantes, France, ISSN 1167-5357.




Contact
Dr.-Ing. Tim Bodenmüller
German Aerospace Center

Institute of Robotics and Mechatronics
, Perception and Cognition
Tel: +49 8153 28-1874

Fax: +49 8153 28-1134

E-Mail: Tim.Bodenmueller@dlr.de
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Texte zu diesem Artikel
DLR Laser-range Scanner (2000) (http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-9467/16255_read-8882/usetemplate-print/)
Laser-stripe Profiler (2003‒2007) (http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-9467/16255_read-8987/usetemplate-print/)
Sensor Synchronisation and Calibration (http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-4815/7984_read-8983/usetemplate-print/)