Kurt3D (Fig. 4, left) extends the KURT2 robot by a 3D laser range finder, i.e., the SICK 2D scanner is mounted on a tiltable unit, rotating the scanner by its horizontal axis. Furthermore, Kurt3D is equipped with two cameras, mounted on selfmade pan and tiltable units on both sides of the scanner. The robot's height increases to 47 cm, its weight to 22.6 kg.
In addition, the control software is extended by a 3D environment
mapping system, i.e., 6D SLAM (simultaneous localization and
mapping) [4]. This system always yields a precise
pose estimate in all six degrees of freedom (
, 
, 
position;
pitch, roll and yaw angle), enabling the robot to create accurate
three dimensional maps.