2A1-F22 レーザレンジファインダと鏡による床面上の日用品位置計測システム

概要

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This paper proposes a new method of measuring position of daily life commodities placed on a floor. Picking up an object on a floor will be a typical task for a robot. However, it is difficult for a. robotic vision to detect a small object left on a large floor. Various objects may also exist on the floor and the surface of the object has various optical characteristics. Our method uses a laser range finder (LRF) together with a mirror. The LRF scans the laser beam just above the floor and measure the distance to the object. Some beams are reflected by the mirror and measure the distance from different origin. Even if the two measurements fail, the method calculates the position of the object by utilizing information that no measurement is available. Thus, the method achieves two major advantages: 1) robust against occlusion and 2) applicable to variety of daily life commodities.
一般社団法人日本機械学会の論文