2A2-K01 移動ロボットを用いた分散レーザレンジファインダのキャリブレーション(空間知)

概要

論文の詳細を見る
Intelligent Space is a room or area where many intelligent sensors and actuators are distributed and networked. In Intelligent Space, the embedded sensors can monitor the whole environment by communicating with each other through the network. Based on the observed information, the actuators provide informative and physical services to users. One of the major problems in implementation of the system is a calibration of the sensors. In this paper, we consider the automated calibration of the pose of the laser range finders using mobile robots. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in the exact positions beforehand. The calibration is performed based on the positions of the mobile robots in world coordinate system and their corresponding points in local coordinate system. The experimental result shows that this method can provide enough accuracy for the various applications in Intelligent Space.
一般社団法人日本機械学会の論文
2007-05-11