Comparison of Active Sensors for 3D Modeling of Indoor Environments

摘要

3D perception has known impressive advances in the past 3 years; it corresponds to several technological improvements, plus many new development teams providing open sources. First of all, researchers in Robotics and 3D Perception have made profit of the Kinect sensor; some works were already devoted to 3D cameras, using more expensive Time-of-Flight optical devices. Another common way to acquire dense 3D data, is by scanning the environment by a laser range finder (LRF); as for example, the Hokuyo tilting LRF integrated on the PR2 robot by Willow Garage. To build a dense geometrical model of an indoor environment, several sensors could be selected in order to acquire 3D data. This paper aims at giving some insights on this selection, presenting some pros and cons for Kinect, Hokuyo and ToF optical sensors.