2P1-G19 三次元レーザスキャナを用いた移動環境認識法 : 基本原理と認識実験(3次元計測/センサフュージョン)

概要

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This paper describes a new three-dimensional environment recognition method for 3-D mobile robot that can walk up and down the stairs. The prototype system named MEROS (Mobile Environment Recognition Sensor) was developed. The system consists of two-dimensional scanning laser range finder (URG), Z-axis revolving mechanism and a computer. The URG measures the distance of every angle interval in a scan plane. The revolving mechanism makes the sensor rotate and it is positioned in the uniformly space. The computer processes the sensor direction, the scan angle and the measurement distance. The procedures are as follows. 1) The extraction of the feature quantity of the vertical scanning plane. 2) The extraction of the horizontal feature quantity concerning multiple scanning planes. 3) The recognition of the environment according to the consolidation of the information. When the system finds stairs, it can measure the relative location between the sensor and the stairs and the geometries of the stairs.
一般社団法人日本機械学会の論文
2008-06-06