Automatic laser-based geometrical modeling using multiple mobile robots

Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an automatic 3-D laser measurement system of an environmental structure using the cooperation of multiple mobile robots. The robots are equipped with two types of laser sensors and measure the 3D environmental structure while moving around the environment automatically. To identify the measurement positions by the robots, Cooperative Positioning System (CPS) is utilized which is a highly precise positioning technique of co-operative multiple robots. Since the positions of the robots for 3D laser scanning are identified precisely, the 3D environmental model can be constructed without any post-processing procedure such as the ICP algorithm or manual intervention. Therefore, a fully automatic 3-D measurement system of the environmental model can be realized. This paper presents the manual and automatic planning experiments of measurement procedure using the partially measured structure of the environment. Planning and measurement experiments by three mobile robots are successfully carried out.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages363-369
Number of pages7
DOIs
Publication statusPublished - Dec 1 2010
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: Dec 14 2010Dec 18 2010

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Other

Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
CountryChina
CityTianjin
Period12/14/1012/18/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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