1P1-E14 環境認識に必要な点密度を考慮した移動しながらの逐次3次元地図構築

概要

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Obtaining surrounding environment information using mobile rescue robots is important for search and rescue missions where have a risk of secondary disaster. In such case, three dimensional information is very useful to figure out surrounding environment and to navigate in unknown environments. This paper descirbes about constructing a three dimensional map with moving. The three dimensional map is displayed by point clouds, but it is hard to figure out complicated surrounding environment. To improve conspicous map, the three dimensional map need to divide into some parts. We propose a moving scan method which considers point cloud density for classification. Finally, we present results from field tests using rescue robots and classification results.
一般社団法人日本機械学会の論文