Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system

Souichiro Oshima, Shingo Nagakura, Jeong Yongjin, Akihiro Kawamura, Yumi Iwashita, Ryo Kurazume

研究成果: 著書/レポートタイプへの貢献会議での発言

2 引用 (Scopus)

抜粋

In recent years, several low-cost 3D laser scanners are being brought to the market and 3D laser scanning is becoming widely used in many fields. For example, 3D modeling of architectural structures or digital preservation of cultural heritages are typical applications for 3D laser scanning. Despite of the development of light-weight and high-speed laser scanners, however, the complicated measurement procedure and long measurement time are still a heavy burden for the widespread use of laser scanning. We have proposed a robotic 3D scanning system using multiple robots named CPS-SLAM, which consists of parent robots with a 3D laser scanner and child robots with target markers. In this system, a large-scale 3D model can be acquired by an on-board 3D laser scanner on a parent robot from several positions determined precisely by the localization technique using multiple robots named Cooperative Positioning System, CPS. Therefore, this system enables to build a 3D model without complicated post-processing procedures such as ICP. In addition, this system is an open-loop SLAM system and a quite precise 3D model can be obtained without closed loops. This paper proposes an automatic planning technique of a laser measurement for CPS-SLAM. By planning a proper scanning strategy depending on a target structure, it is possible to perform laser scanning efficiently and accurately even for a large-scale and complex environment. Proposed technique plans an efficient scanning strategy automatically by taking account of several criteria, such as visibility between robots, error accumulation, and efficient traveling. We conducted computer simulations and outdoor experiments to verify the performance of the proposed technique.

元の言語英語
ホスト出版物のタイトルIROS Hamburg 2015 - Conference Digest
ホスト出版物のサブタイトルIEEE/RSJ International Conference on Intelligent Robots and Systems
出版者Institute of Electrical and Electronics Engineers Inc.
ページ4437-4444
ページ数8
ISBN(電子版)9781479999941
DOI
出版物ステータス出版済み - 12 11 2015
イベントIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, ドイツ
継続期間: 9 28 201510 2 2015

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2015-December
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

その他

その他IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
ドイツ
Hamburg
期間9/28/1510/2/15

    フィンガープリント

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Oshima, S., Nagakura, S., Yongjin, J., Kawamura, A., Iwashita, Y., & Kurazume, R. (2015). Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system. : IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4437-4444). [7354007] (IEEE International Conference on Intelligent Robots and Systems; 巻数 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354007