Integration of a 3D-TOF camera into an autonomous, mobile robot system

Abstract

3D imaging systems can provide valuable information for autonomous robot navigation. Still the most significant challenge in robot navigation is to have knowledge of 3D dynamic information about the object of interest in the environment. Time-of-Flight (TOF) sensors have recently become available at reasonable prices and offer the possibility to deliver the dynamic object information required for robot navigation. In comparison to stereo vision systems and laser range scanners they combine the advantages of active sensors providing accurate distance measurements and camera-based systems recording a 2D matrix at a high frame rate. This paper focuses on the integration of a TOF sensor into an autonomous, mobile robot system. Experimental results show that the TOF sensor is more suited for robot navigation than the existing laser range system.