Use of the parallel and perpendicular characteristics of building shape for indoor map making and positioning

Shigeru Bando, Shinichi Yuta

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

5 Citations (Scopus)

Abstract

We are trying to develop an easy autonomous map making method for indoor mobile robots, using the property of the usual buildings, which we can assume that the major walls are arranged parallel or perpendicular. Based on these properties, the robot can find its own direction easily, with its surroundings range data, so that the accumulated error in the calculated direction can be avoided. In this paper, we propose a method to know the robot direction using scanned range data of the environment walls, and the method to build the map by connecting the scanned range data using this property. We also present an example of experimental results of indoor map making by a mobile robot without using the odometry, which shows the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4318-4323
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CityTaipei
Period10/10/1810/10/22

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Bando, S., & Yuta, S. (2010). Use of the parallel and perpendicular characteristics of building shape for indoor map making and positioning. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 4318-4323). [5650220] https://doi.org/10.1109/IROS.2010.5650220