3D Modeler (2006–2017)

Credit:
DLR (CC BY-NC-ND 3.0)
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The multisensory DLR 3D-Modeler is a device for fotorealistic 3-D modeling of a robot's environment in realtime.
In 2006, it was presented to the public for the first time.

Technical data


Size:	17 cm × 20 cm × 11 cm
Weight:	850 g
Sensors:	Stereo camera Dual LSP Contact probe (optional) inertial measurement unit (optional) IR tracking system (external, optional)
Communication:	Ethernet over FireWire
Workspace:	50 mm – 2000 mm in range 270°–30°, depending on the range
Special features:	Hand-held modeling device Can be attached to a reference system (e.g. robotic manipulator)

System description

The DLR 3D-Modeler consists of a core module and application-specific extensions. The core module, hereafter called modeler, comprehends two digital cameras, a miniaturized rotating laser scanner and two laser line modules. Furthermore it features a small embedded computer to provide internal computing power and a graphical color display. The modeler can be attached to a handhold with various input buttons or to a robot via an industrial quick-changing adaptor. On the sides, markers can be attached for IR-based, optical pose tracking. Alternatively, an inertial measurement unit (IMU) can be attached.

System components

Due to the modular design the system allows both hand-guided operation and automated robotic applications. Three mechanically identical free-of-play couplers enable quick and easy exchangeability of all components. The DLR 3D-Modeler can be operated manually using the handhold buttons and the display menu or controlled remotely.

Pose tracking

IR-reflecting markers can be attached to the DLR 3D-Modeler in order to provide contact-free pose tracking without the need of a robotic manipulator or an external positioning system like the FaroArm.

Publications

All publications related to the DLR 3-D Modeler.

Selected Publications

K. H. Strobl, E. Mair, T. Bodenmüller, S. Kielhöfer, T. Wüsthoff, and M. Suppa. Portable 3-D Modeling using Visual Pose Tracking. Computers in Industry, Volume 99, August 2018, pp. 53-68, ISSN 0166-3615, https://doi.org/10.1016/j.compind.2018.03.009.
K. H. Strobl. Loop Closing for Visual Pose Tracking during Close-Range 3-D Modeling. In G. Bebis et al. (Eds.): ISVC 2014, Part I, LNCS 8887, pp. 390--401. Springer International Publishing Switzerland (2014).
K. H. Strobl, E. Mair, and G. Hirzinger. Image-Based Pose Estimation for 3-D Modeling in Rapid, Hand-Held Motion. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, pp. 2593-2600, May 2011.
K. H. Strobl, E. Mair, T. Bodenmüller, S. Kielhöfer, W. Sepp, M. Suppa, D. Burschka, and G. Hirzinger. The Self-Referenced DLR 3D-Modeler. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, USA, pp. 21-28, October 2009, best paper finalist.
M. Suppa, S. Kielhöfer, J. Langwald, F. Hacker, K. H. Strobl, and G. Hirzinger. The 3D-Modeller: A Multi-Purpose Vision Platform. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, 2007.
K. H. Strobl, W. Sepp, E. Wahl, T. Bodenmüller, M. Suppa, J. F. Seara, and G. Hirzinger. The DLR Multisensory Hand-Guided Device: The Laser Stripe Profiler. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), pp. 1927-1932, New Orleans, Louisiana, USA, April 26 - May 1, 2004.
M. Suppa and G. Hirzinger. A Novel System Approach to Multisensory Data Acquisition. Intelligent Autonomous Systems 8 (IAS-8), pp. 996-1004, Amsterdam, March 10-13, 2004.

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