1A1-F07 屋外環境下で用いる自律移動システムに関する研究 : 第53報環境の三次元点群情報を用いた位置推定手法の検討

概要

論文の詳細を見る
g method for a mobile robot using a laser scanner and 3D point cloud data. The 3D point cloud of the outdoor environment is measured easily and precisely by the mobile mapping system (MMS). The full six-dimensional state of the mobile robot is estimated using a combination of the dead reckoning and 3D point cloud data. In addition, our approach applies a particle filter to correct the position error using the laser measurement model in the 3D point cloud space. The field experiment is conducted to evaluate the accuracy of the proposed method. As the result of the experiment, it was confirmed that it is possible to achieve a positioning precision of 0.3 m (RMS) by using the proposed method.
一般社団法人日本機械学会の論文
2009-05-25