Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor

Yoshitaka Hara, Hirohiko Kawata, Akihisa Ohya, Shi N.Ichi Yuta

研究成果: Conference contribution

33 被引用数 (Scopus)

抄録

This paper describes a new scan matching method for mobile robot localization and mapping. The proposed method "Intensity-ICP" uses Laser Reflection Intensity obtained by u laser range scanner named "SOKUIKI sensor". Compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and featureless environments if there are some features like colors or materials. This method can build a map with Laser Reflection Intensity data. The map will be effective to robust localization because it has abundant information; not only geometric data but also Laser Reflection Intensity.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ3018-3023
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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11月 62006 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Conference

ConferenceIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
国/地域France
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • 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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