Map building for mobile robots using a SOKUIKI sensor -robust scan matching using laser reflection intensity-

Yoshitaka Hara, Hirohiko Kawata, Akihisa Ohya, Shin'ichi Yuta

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

This paper describes map building using a new scan matching method, Intensity-ICP. The method uses Laser Reflection Intensity of a laser range scanner named "SOKUIKI sensor". So compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and non geometric featured environments. We also propose two methods to remove outliers in scan matching. Laser Reflection Intensity and geometric constraint are used in these methods. As the result of using Intensity-ICP scan matching and outlier removing methods, an accurate map can be built. In addition, the map has abundant information; not only geometric data but also Laser Reflection Intensity, and it is useful for robust localization.

本文言語English
ホスト出版物のタイトル2006 SICE-ICASE International Joint Conference
ページ5951-5956
ページ数6
DOI
出版ステータスPublished - 2006
外部発表はい
イベント2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
継続期間: 2006 10月 182006 10月 21

出版物シリーズ

名前2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
国/地域Korea, Republic of
CityBusan
Period06/10/1806/10/21

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 電子工学および電気工学

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