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A MATLAB-Based Application Development Using a 3D PMD Camera for a Mobile Robot

[+] Author Affiliations
Mohammad Chami

University of Applied Sciences Ravensburg-Weingarten, Weingarten, Baden Württemberg, Germany

Holger Voos

University of Luxembourg, Luxembourg, Luxembourg

Paper No. DETC2011-47873, pp. 451-456; 6 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


Three-dimensional sensing is a vital field in mobile robotic applications. This work proposes an application of a Time-of-Flight 3D Photonic Mixer Device (PMD) camera for the navigation of an Omni-directional mobile robot. The 3D PMD camera enables real time distance detection as well as the capturing of grayscale images. In our framework, the application of the 3D PMD camera is aimed at solving the problem of environmental perception in mobile robotics. In this paper, we present the development of a MATLAB-based kit for the control of an Omni-directional mobile robot supported by a data acquisition board. The communication interface of the camera, used to close the system’s control loop, has been also developed. We further present results of different experiments including online obstacle detection and avoidance. In addition, an adaptive pose determination for the robot is proposed.

Copyright © 2011 by ASME



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