Abstract
The final objective of the authors is to realize mobile robot navigation in walkway of outdoor environment. The path along the walkway which is measured correctly together with landmarks must be given in the framework in this paper. The robot identifies its position by means of odometry, DGPS and Laser Range Finder (LRF) during the motion along the path. This paper contributes to the map building of landmarks along the walkway. To make the map, RTK-GPS, odometry and LRF are used for the sensory devices and Kalman Smoothing technique is also incorporated to interpolate trajectory of the scanning LRF equipment between the two point that RTK-GPS measurement took place. The scanning by LRF is performed to acquire the 3-D shape of objects along the walkway. The trajectory presumed properly and well organised shapes of the objects are reconstructed.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 684-690 |
| Number of pages | 7 |
| Volume | 2004 |
| Edition | 1 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 2004 Apr 26 → 2004 May 1 |
Other
| Other | Proceedings- 2004 IEEE International Conference on Robotics and Automation |
|---|---|
| Country | United States |
| City | New Orleans, LA |
| Period | 04/4/26 → 04/5/1 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Outdoor map building based on odomoetry and RTK-GPS positioning fusion. / Ohno, Kazunori; Tsubouchi, Takashi; Yuta, Shinichi.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 1. ed. 2004. p. 684-690.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Outdoor map building based on odomoetry and RTK-GPS positioning fusion
AU - Ohno, Kazunori
AU - Tsubouchi, Takashi
AU - Yuta, Shinichi
PY - 2004
Y1 - 2004
N2 - The final objective of the authors is to realize mobile robot navigation in walkway of outdoor environment. The path along the walkway which is measured correctly together with landmarks must be given in the framework in this paper. The robot identifies its position by means of odometry, DGPS and Laser Range Finder (LRF) during the motion along the path. This paper contributes to the map building of landmarks along the walkway. To make the map, RTK-GPS, odometry and LRF are used for the sensory devices and Kalman Smoothing technique is also incorporated to interpolate trajectory of the scanning LRF equipment between the two point that RTK-GPS measurement took place. The scanning by LRF is performed to acquire the 3-D shape of objects along the walkway. The trajectory presumed properly and well organised shapes of the objects are reconstructed.
AB - The final objective of the authors is to realize mobile robot navigation in walkway of outdoor environment. The path along the walkway which is measured correctly together with landmarks must be given in the framework in this paper. The robot identifies its position by means of odometry, DGPS and Laser Range Finder (LRF) during the motion along the path. This paper contributes to the map building of landmarks along the walkway. To make the map, RTK-GPS, odometry and LRF are used for the sensory devices and Kalman Smoothing technique is also incorporated to interpolate trajectory of the scanning LRF equipment between the two point that RTK-GPS measurement took place. The scanning by LRF is performed to acquire the 3-D shape of objects along the walkway. The trajectory presumed properly and well organised shapes of the objects are reconstructed.
UR - http://www.scopus.com/inward/record.url?scp=3042570428&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=3042570428&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:3042570428
VL - 2004
SP - 684
EP - 690
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -