Are laser scanners replaceable by Kinect sensors in robotic applications?

摘要

Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanical system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2010 a new 3D sensor system - Microsoft Kinect [1] - developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications? This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications - map building, localization and obstacle avoidance.