Abstract
The information processing system of the full-scale autonomous mobile robot MACROBE consists of a multilayered motion planning and control system (MPCS) cooperating with an advanced multisensory system. As a primary sensor within the multisensory system, a 3-D laser range camera was developed. This paper summarizes the basic specifications of the range imaging device. It introduces a sensor model useful for the understanding and analysis of typical sensor measurement errors. Sensor model based error correction methods as used for raw image data processing are discussed. Furthermore several schemes for the extraction of motion-oriented environmental features from 3-D range images are described. These features are used as input for MACROBE’s MPCS. In addition, logical sensors as a means of efficient organization of higher level sensor data processing are introduced. An outlook on the development of advanced logical sensors concludes the paper.
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