3D Laserscanner App for Indoor Measurements

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3D Laserscanner App for Indoor Measurements V&R Vision & Robotics GmbH Prof. Dr.-Ing. Dietrich Paulus, Dipl.-Inform. Johannes Pellenz info@vision-robotics.de 20. April 2011 vr 3D Laserscanner App for Indoor Measurements Slide 1

Robotics Robbie University Several awards in RoboCup fully autonomous robot Required for autonomous exploration and navigation: precise maps (SLAM) vr 3D Laserscanner App for Indoor Measurements Slide 2

Robotics Mapping Cube V&R Several awards in RoboCup fully autonomous robot Required for autonomous exploration and navigation: precise maps (SLAM) Separate robot and mapping Self contained mapping device: create the mapping cube Extend maps to 3D measurements vr 3D Laserscanner App for Indoor Measurements Slide 2

Robotics Mapping Cube V&R Several awards in RoboCup fully autonomous robot Required for autonomous exploration and navigation: precise maps (SLAM) Separate robot and mapping Self contained mapping device: create the mapping cube Extend maps to 3D measurements Interactcion: mobile device (android) vr 3D Laserscanner App for Indoor Measurements Slide 2

Mapping Cube Hardware Complete mobile computer (battery, CPU, scanner, position sensors, connectors, WLAN) Scanning (laser, motor) Video (cameras) Mapping Cube Software Align multiple scans (registration) Storgage / Transmission / Visualization Android App Control Mapping Cube Visualize results (lower resolution) Interactively adjust registration, discard or repeat scans vr 3D Laserscanner App for Indoor Measurements Slide 3

Mapping Cube Hardware Complete mobile computer (battery, CPU, scanner, position sensors, connectors, WLAN) Scanning (laser, motor) Video (cameras) Mapping Cube Software Align multiple scans (registration) Storgage / Transmission / Visualization Android App Control Mapping Cube Visualize results (lower resolution) Interactively adjust registration, discard or repeat scans vr 3D Laserscanner App for Indoor Measurements Slide 3

Mapping Cube Hardware Complete mobile computer (battery, CPU, scanner, position sensors, connectors, WLAN) Scanning (laser, motor) Video (cameras) Mapping Cube Software Align multiple scans (registration) Storgage / Transmission / Visualization Android App Control Mapping Cube Visualize results (lower resolution) Interactively adjust registration, discard or repeat scans vr 3D Laserscanner App for Indoor Measurements Slide 3

Measurements in University Koblenz-Landau Setup vr 3D Laserscanner App for Indoor Measurements Slide 4

Measurements in University Koblenz-Landau Setup vr 3D Laserscanner App for Indoor Measurements Slide 5

Measurements in University Koblenz-Landau Setup vr 3D Laserscanner App for Indoor Measurements Slide 6

Measurements in University Koblenz-Landau Setup vr 3D Laserscanner App for Indoor Measurements Slide 7

Registration using V&R Software Result of registration by V&R Software Images Z+F Imager vr 3D Laserscanner App for Indoor Measurements Slide 8

Registration using V&R Software Result of registration by V&R Software Images Z+F Imager vr 3D Laserscanner App for Indoor Measurements Slide 9

Registration using V&R Software Result of registration by V&R Software Images Z+F Imager vr 3D Laserscanner App for Indoor Measurements Slide 10

Registration using V&R Software Result of registration by V&R Software Images vr 3D Laserscanner App for Indoor Measurements Slide 11

V&R Mapping Cube Features Full integration of software, hardware, interaction, storage, transmission Scanning times approx. 30 sec./scan Optionally: range and intensity data fused Aligns multiple scans automatically Measurement range up to 30m (depending on laser sensor) Measurement errors depend only on laser sensor Result: aligned 3d point clouds, optionally fused with color images vr 3D Laserscanner App for Indoor Measurements Slide 12

Registered scans of mapping cube Video How it works vr 3D Laserscanner App for Indoor Measurements Slide 13

V&R MappingCube 3D - Examples Figure: Building of the University of Koblenz-Landau. vr 3D Laserscanner App for Indoor Measurements Slide 14

V&R MappingCube 3D- Examples Figure: Building of the University of Koblenz-Landau. vr 3D Laserscanner App for Indoor Measurements Slide 15

Measurement principle of V&R MappingCube Video Downloaded video from http://www.vision-robotics.de vr 3D Laserscanner App for Indoor Measurements Slide 16

V&R MappingCube 3D - Application Integration with MEVIM (Mobile Evidence Inventory Management). Automatic generation of a metric floor plan. Automatic calculation of the building s floor space. Fusion with color and thermal camera images. Alternative application: save energy by 3d scans of house insulation http://www.ambient-innovation.com vr 3D Laserscanner App for Indoor Measurements Slide 17

info@vision-robotics.de vr 3D Laserscanner App for Indoor Measurements Slide 18

Sources: 3D of University Koblenz-Landau scans recorded with Z+F Imager http://www.zf-laser.com Other scans using V&R MappingCube http://www.vision-robotics.de CSI http://www.ambient-innovation.com Arbeitsgruppe Aktives Sehen der Universität Koblenz-Landau http://www.uni-koblenz.de/agas vr 3D Laserscanner App for Indoor Measurements Slide 19

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