Kai Pervölz, Andreas Nüchter, Hartmut Surmann, and Joachim Hertzberg
Fraunhofer Institute for Autonomous Intelligent Systems (AIS)
Schloss Birlinghoven
D-53754 Sankt Augustin, Germany
{pervoelz,nuechter,surmann,hertzberg}@ais.fraunhofer.de
Abstract. A basic issue of mobile robotics is the automatic generation of environment maps. This paper presents novel results for the reconstruction of textured 3D maps with an autonomous mobile robot, a 3D laser range finder and two pan-tilt color cameras. Building 3D maps involves a number of fundamental scientific issues. This paper adresses the issue of how to fuse the geometry data of the 3D laser range finder with camera images. The proposed algorithm allows to texturize geometrical 3D scenes-models.