3D vision systems for TurtleBot

TurtleBot's capability is greatly enhanced by the addition of a 3D vision sensor. The function of 3D sensors is to map the environment around the robot by discovering nearby objects that are either stationary or moving. The mapping function must be accomplished in real time so that the robot can move around the environment, evaluate its path choices, and avoid obstacles. For autonomous vehicles, such as Google's self-driving cars, 3D mapping is accomplished by a high-cost LIDAR system that uses laser radar to illuminate its environment and analyze the reflected light. For our TurtleBot, we will present a number of low cost but effective options. These standard 3D sensors for TurtleBot include Kinect sensors, ASUS Xtion sensors, and Carmine sensors.

How these 3D vision sensors work

The 3D vision systems that we describe for TurtleBot have a common infrared technology to sense depth. This technology was developed by PrimeSense, an Israeli 3D sensing company and...