Daniel Schauer

Integration of a 3D Time of Flight Camera System into a Robot System: Integration, Validation and Comparison Daniel Schauer

Because of the Development of a 3D ToF camera vision system it is possible to get a 3D image with only one objective. To get a practical application and a practical test environment for the performance of this prototype this paper is focused on the integration of the 3D ToF Camera System into the Robot system of the University of Auckland. A Sick Laser scanner is used to get the comparison. The first part is especially focused on to the technology of the Laser scanner and the 3D ToF Camera Vision system. The second part is focused on the integration of the Camera system into the Robot system. It describes the implemented MicroC/Os-II and Ethernet interface. Also the communication between Robot and camera system which works via a Socket Client/Server application, is described as well as the Robot system with it's components like the Player Server, Driver, Client and Configuration files. The third part describes the Experiment and the results. The last part is focused on to the ideas for eventual future developments for eventual improvements of the camera system.