1P1-D09 円錐走査式距離測定を用いた移動環境認識法に関する研究(第2報) : パラメータ同定法の改良と2平面認識実験(3次元計測/センサフュージョン)

概要

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This paper describes a three-dimensional environment recognition method for 3-D mobile robot that can walk up and down stairs. The recognition method using conical scanning distance measurement can measure environment shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follow the conical generating line. 3) The extraction of the planar feature quantity. In this report, the experimental device was built using the TOF range imaging sensor. The measuring experiments about a wall (one plane) and stairs (two planes), and the evaluation of recognition accuracy were carried out.
一般社団法人日本機械学会の論文
2011-05-26