Transportable laser range sensing system for estimation of three dimensional motion distance and map making using in-building shape feature

Mitsuhiro Matsumoto, Shinichi Yuta

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

Abstract

This paper reports a transportable system for estimating a three dimensional motion distance and making a map in the building environment. This system takes three dimensional laser reflecting points information, and integrates them to make a map in the point cloud format after the estimation of sensing position using the three dimensional motion estimation. It estimates the self-location using the information of surfaces of walls, posts and ceilings as feature of the in-building environment. We have developed the prototype system using a three dimensional scanning unit with the roundly swinging mechanism, and an posture sensor unit. The experimental results have shown the effectiveness of the three dimensional estimation of motion distance method designed for this system.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1004-1009
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket
Duration: 2011 Dec 72011 Dec 11

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CityPhuket
Period11/12/711/12/11

Fingerprint

Lasers
Ceilings
Motion estimation
Scanning
Sensors

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Matsumoto, M., & Yuta, S. (2011). Transportable laser range sensing system for estimation of three dimensional motion distance and map making using in-building shape feature. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1004-1009). [6181419] https://doi.org/10.1109/ROBIO.2011.6181419

Transportable laser range sensing system for estimation of three dimensional motion distance and map making using in-building shape feature. / Matsumoto, Mitsuhiro; Yuta, Shinichi.

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 1004-1009 6181419.

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

Matsumoto, M & Yuta, S 2011, Transportable laser range sensing system for estimation of three dimensional motion distance and map making using in-building shape feature. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181419, pp. 1004-1009, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181419
Matsumoto M, Yuta S. Transportable laser range sensing system for estimation of three dimensional motion distance and map making using in-building shape feature. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 1004-1009. 6181419 https://doi.org/10.1109/ROBIO.2011.6181419
Matsumoto, Mitsuhiro ; Yuta, Shinichi. / Transportable laser range sensing system for estimation of three dimensional motion distance and map making using in-building shape feature. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. pp. 1004-1009
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