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

Yoshitaka Hara, Hirohiko Kawata, Akihisa Ohya, Shinichi Yuta

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

26 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 Proceedings (Industrial Electronics Conference)
Pages3018-3023
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris
Duration: 2006 Nov 62006 Nov 10

Other

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

Fingerprint

Mobile robots
Lasers
Sensors
Color

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

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

Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor. / Hara, Yoshitaka; Kawata, Hirohiko; Ohya, Akihisa; Yuta, Shinichi.

IECON Proceedings (Industrial Electronics Conference). 2006. p. 3018-3023 4153430.

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

Hara, Y, Kawata, H, Ohya, A & Yuta, S 2006, Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor. in IECON Proceedings (Industrial Electronics Conference)., 4153430, pp. 3018-3023, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, 06/11/6. https://doi.org/10.1109/IECON.2006.347701
Hara Y, Kawata H, Ohya A, Yuta S. Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor. In IECON Proceedings (Industrial Electronics Conference). 2006. p. 3018-3023. 4153430 https://doi.org/10.1109/IECON.2006.347701
Hara, Yoshitaka ; Kawata, Hirohiko ; Ohya, Akihisa ; Yuta, Shinichi. / Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor. IECON Proceedings (Industrial Electronics Conference). 2006. pp. 3018-3023
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