S. Zug, F. Penzlin, André Dietrich, T. Nguyen, Sven Albert
{"title":"在机器人应用中,激光扫描仪是否可以被Kinect传感器取代?","authors":"S. Zug, F. Penzlin, André Dietrich, T. Nguyen, Sven Albert","doi":"10.1109/ROSE.2012.6402619","DOIUrl":null,"url":null,"abstract":"Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanical system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2010 a new 3D sensor system - Microsoft Kinect [1] - developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications? This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications - map building, localization and obstacle avoidance.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"46","resultStr":"{\"title\":\"Are laser scanners replaceable by Kinect sensors in robotic applications?\",\"authors\":\"S. Zug, F. Penzlin, André Dietrich, T. Nguyen, Sven Albert\",\"doi\":\"10.1109/ROSE.2012.6402619\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanical system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2010 a new 3D sensor system - Microsoft Kinect [1] - developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications? This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications - map building, localization and obstacle avoidance.\",\"PeriodicalId\":306272,\"journal\":{\"name\":\"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"46\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROSE.2012.6402619\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROSE.2012.6402619","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Are laser scanners replaceable by Kinect sensors in robotic applications?
Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanical system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2010 a new 3D sensor system - Microsoft Kinect [1] - developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications? This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications - map building, localization and obstacle avoidance.