Transportable sensor system for three dimensional motion distance estimation and mapping using the in-building shape feature

Mitsuhiro Matsumoto, Shinichi Yuta

Research output: Contribution to journalArticle


This paper describes a transportable system for estimating three dimensional motion distance and making three dimensional 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 method of three dimensional motion distance estimation designed for this system.

Original languageEnglish
Pages (from-to)3013-3027
Number of pages15
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number792
Publication statusPublished - 2012



  • Estimation of three dimensional motion distance
  • In-Building shape feature
  • Three dimensional mapping
  • Transportable system

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

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