Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor

Yoshitaka Hara, Hirohiko Kawata, Akihisa Ohya, Shi N.Ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

This paper describes a new scan matching method for mobile robot localization and mapping. The proposed method "Intensity-ICP" uses Laser Reflection Intensity obtained by u laser range scanner named "SOKUIKI sensor". Compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and featureless environments if there are some features like colors or materials. This method can build a map with Laser Reflection Intensity data. The map will be effective to robust localization because it has abundant information; not only geometric data but also Laser Reflection Intensity.

Original languageEnglish
Title of host publicationIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages3018-3023
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Conference

ConferenceIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Hara, Y., Kawata, H., Ohya, A., & Yuta, S. N. I. (2006). Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 3018-3023). [4153430] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.347701