Outdoor map building based on odomoetry and RTK-GPS positioning fusion

Kazunori Ohno, Takashi Tsubouchi, Shinichi Yuta

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

29 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages684-690
Number of pages7
Volume2004
Edition1
Publication statusPublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

Other

OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
CountryUnited States
CityNew Orleans, LA
Period04/4/2604/5/1

Fingerprint

Range finders
Global positioning system
Fusion reactions
Lasers
Trajectories
Scanning
Mobile robots
Navigation
Robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Ohno, K., Tsubouchi, T., & Yuta, S. (2004). Outdoor map building based on odomoetry and RTK-GPS positioning fusion. In Proceedings - IEEE International Conference on Robotics and Automation (1 ed., Vol. 2004, pp. 684-690)

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 proceedingConference contribution

Ohno, K, Tsubouchi, T & Yuta, S 2004, Outdoor map building based on odomoetry and RTK-GPS positioning fusion. in Proceedings - IEEE International Conference on Robotics and Automation. 1 edn, vol. 2004, pp. 684-690, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 04/4/26.
Ohno K, Tsubouchi T, Yuta S. Outdoor map building based on odomoetry and RTK-GPS positioning fusion. In Proceedings - IEEE International Conference on Robotics and Automation. 1 ed. Vol. 2004. 2004. p. 684-690
Ohno, Kazunori ; Tsubouchi, Takashi ; Yuta, Shinichi. / Outdoor map building based on odomoetry and RTK-GPS positioning fusion. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 1. ed. 2004. pp. 684-690
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