High-precision three-dimensional laser measurement system by cooperative multiple mobile robots

Jeong Yongjin, Yoonseok Pyo, Yumi Iwashita, Tsutomu Hasegawa, Ryo Kurazume

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

3 被引用数 (Scopus)

抄録

This paper presents a high-precision three-dimensional laser measurement system of an architectural structure by cooperative multiple mobile robots. This system is composed of three mobile robots, that is, a parent robot and two child robots. The parent robot is equipped with a three-dimensional laser scanner, attitude sensor, total station, and auto-leveling device. On the other hand, the child robots are equipped with six corner mirrors. The parent robot moves and stops repeatedly, and measures a three-dimensional architectural shape using the equipped laser scanner at several positions. Meanwhile, the child robots also move and stop alternately, and act as mobile landmarks for the positioning of the parent robot. By replacing or newly installing several devices/mechanisms, the precision of the proposed system becomes incomparably higher than our previous system. We report the system achieves quite high accuracy of 0.03 0.05 % of targets' size through indoor/outdoor experiments. We apply the proposed technique for the shape measurement system of tunnels under construction and verify that the accuracy of the developed system is as high as a conventional ground-fixed laser scanner.

本文言語英語
ホスト出版物のタイトル2012 IEEE/SICE International Symposium on System Integration, SII 2012
ページ198-205
ページ数8
DOI
出版ステータス出版済み - 2012
イベント2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, 日本
継続期間: 12月 16 201212月 18 2012

出版物シリーズ

名前2012 IEEE/SICE International Symposium on System Integration, SII 2012

その他

その他2012 IEEE/SICE International Symposium on System Integration, SII 2012
国/地域日本
CityFukuoka
Period12/16/1212/18/12

!!!All Science Journal Classification (ASJC) codes

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