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

Mitsuhiro Matsumoto, Shin'ichi Yuta

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)3013-3027
ページ数15
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
78
792
DOI
出版ステータスPublished - 2012

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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