1A1-E15 スキャンマッチングによる三次元地図構築のための基礎実験

概要

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We are involved in the research into navigation of mobile robots for indoor and outdoor use. In order to localize the position of a mobile robot, 3D map rather than 2D map is preferred especially for outdoor application. In order to build 3D map of an unknown environment, we combined two laser scanners for different orientation, and obtained 3D environmental information .We applied 2D scan matching method for the horizontal scan information, and the other scan information is incorporated for 3D map building. We evaluated the performance of scan matching method for the translation and rotation motion of our mobile robot, and then conducted 3D map building experiments in the university campus and confirmed that 3D map was obtained in a quite enough resolution.
一般社団法人日本機械学会の論文
2009-05-25