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

Kazunori Ohno, Takashi Tsubouchi, Shin'ichi Yuta

Research output: Contribution to journalConference article


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
Pages (from-to)684-690
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number1
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1


ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this