In:
Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., Vol. 25, No. 1 ( 2013-02-20), p. 5-15
Abstract:
This research is on personal mobility that estimates its self position on a sensor data map created from sensor data, acquired from laser range scan sensors and/or other sensors, and annotates various multiple items of information on a digital map. This paper describes a method of creating an edge-based grid map from both aerial photography and an electricalmap for this purpose and a way and its realization to estimate position and to construct outdoor maps from multi-plane laser range scan data on the grid map. Since threedimensional scanning is rather difficult and the scan rate is low, we used two-dimensional scanning that enables movement without slowing it down by scanning multiple horizontal and/or slanted planes. Experimental results show that the system is able to ensure the accuracy of accumulated error within 2 m by integrating aerial photography and electrical maps plus multiplane scanning.
Type of Medium:
Online Resource
ISSN:
1883-8049
,
0915-3942
DOI:
10.20965/jrm.2013.p0005
Language:
English
Publisher:
Fuji Technology Press Ltd.
Publication Date:
2013
detail.hit.zdb_id:
2587053-1
SSG:
31
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