Automatic laser-based geometrical modeling using multiple mobile robots

Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
ページ363-369
ページ数7
DOI
出版ステータス出版済み - 12 1 2010
イベント2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, 中国
継続期間: 12 14 201012 18 2010

出版物シリーズ

名前2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

その他

その他2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
国/地域中国
CityTianjin
Period12/14/1012/18/10

All Science Journal Classification (ASJC) codes

  • 人工知能
  • バイオテクノロジー
  • 人間とコンピュータの相互作用

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