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

Mitsuhiro Matsumoto, Shin'ichi Yuta

研究成果

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
ページ1004-1009
ページ数6
DOI
出版ステータスPublished - 2011 12 1
イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
継続期間: 2011 12 72011 12 11

出版物シリーズ

名前2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
国/地域Thailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識

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