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The DLR multisensory 3D-Modeler (3DMo)

Der handgeführte DLR 3D-Modellierer

The multisensory DLR 3D-Modeler is a device for fotorealistic 3-D modeling of a robot's environment in realtime.
In 2006, it was presented to the public for the first time.

Technical data

Size:	17cm × 20cm × 11cm
Weight:	850g
Sensors:	• Stereo camera • Dual LSP • Contact probe (optional) • inertial measurement unit (optional) • IR tracking system (external, optional)
Communication:	Ethernet over FireWire
Workspace:	• 50-2000mm in range • 270-30°, depending on the range
Special features:	• Hand-held modeling device • Can be attached to a reference system (e.g. robotic manipulator)

System description

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.

	System components 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.
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	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 3-D sensor data in the same world coordinate frame.
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	Pose tracking 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.
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	Online surface reconstruction The development of range sensors allows for generating 3-D 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.
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	Autonomous 3D modeling At RMC, robotic systems are enabled to acquire 3-D models of unknown objects or scenes fully autonomously. The robot needs to decide where to scan next with the goal to reach a high model quality in as few views or scans as possible.
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	Publications All publications related to the DLR 3-D Modeler.
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3DMo – image gallery

3D-Scanvorgang im handgeführten Betrieb

Im handgeführten Betrieb kann man intuitiv und einfach dreidimensionale Modelle von Objekten erzeugen.

Credit: DLR (CC-BY 3.0).

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Verwendung des 3D-Modellierers als Teil des Kopfes eines humanoiden Roboters

Der Modellierer kann als Teil des Kopfes eines humanoiden Roboters wie Rollin' Justin eingesetzt werden, um ihm die Möglichkeit zu geben, seine Umgebung visuell wahrzunehmen.

Credit: DLR (CC-BY 3.0).

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Der handgeführte DLR 3D-Modellierer

Der Modellierer ermöglicht ein optisches Tracking im Infrarotbereich.

Credit: DLR (CC-BY 3.0).

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3DMo components

Credit: DLR (CC-BY 3.0).

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Selected Publications

K. H. Strobl, E. Mair, T. Bodenmüller, S. Kielhöfer, T. Wüsthoff, and M. Suppa. Portable 3-D Modeling using Visual Pose Tracking. Computers in Industry, Volume 99, August 2018, pp. 53-68, ISSN 0166-3615, https://doi.org/10.1016/j.compind.2018.03.009.
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, 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.
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.
M. Suppa, S. Kielhöfer, J. Langwald, F. Hacker, K. H. Strobl, and G. Hirzinger. The 3D-Modeller: A Multi-Purpose Vision Platform. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, 2007.
K. H. Strobl, W. Sepp, E. Wahl, T. Bodenmüller, M. Suppa, J. F. Seara, and G. Hirzinger. The DLR Multisensory Hand-Guided Device: The Laser Stripe Profiler. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), pp. 1927-1932, New Orleans, Louisiana, USA, April 26 - May 1, 2004.
M. Suppa and G. Hirzinger. A Novel System Approach to Multisensory Data Acquisition. Intelligent Autonomous Systems 8 (IAS-8), pp. 996-1004, Amsterdam, March 10-13, 2004.

Contact

Dr.-Ing. Tim Bodenmüller
German Aerospace Center
Institute of Robotics and Mechatronics, Perception and Cognition
Oberpfaffenhofen-Weßling
Tel.: +49 8153 28-1874
Fax: +49 8153 28-1134

The DLR multisensory 3D-Modeler (3DMo)

System components

Sensor synchronisation and calibration

Pose tracking

Online surface reconstruction

Autonomous 3D modeling

Publications

3DMo – image gallery

3D-Scanvorgang im handgeführten Betrieb

Verwendung des 3D-Modellierers als Teil des Kopfes eines humanoiden Roboters

Der handgeführte DLR 3D-Modellierer

3DMo components

Selected Publications