1P1-M03 二次元スキャン面の角度を変更可能な三次元測域センサの開発(3次元計測/センサフュージョン)

概要

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It is useful for mobile robot navigation or mapping to use three-dimensional environment information. To obtain such information by sensor, one of conventional methods is to rotate two-dimensional laser-range-finder. The method has advantages of (1) wide angle of visibility and (2) small effect of light quantity. However, it has disadvantages of (3) slow-scan speed and (4) existence of limit point. To improve these disadvantages, our research group proposes a novel scanning method. One of the features of the method is that a scanning plane (of the two-dimensional range sensor) is not perpendicular to revolving plane of the sensor. To verify the validity of the method, we performed a basic experiment using a three-dimensional range sensor whose scanning angle can be changed. In this paper, we introduce the scanning method, and report the basic experiment in real world.
一般社団法人日本機械学会の論文
2007-05-11