Map building for mobile robots using a SOKUIKI sensor -robust scan matching using laser reflection intensity-

Yoshitaka Hara; Hirohiko Kawata; Akihisa Ohya; Shin'ichi Yuta

doi:10.1109/SICE.2006.315836

Map building for mobile robots using a SOKUIKI sensor -robust scan matching using laser reflection intensity-

Yoshitaka Hara, Hirohiko Kawata, Akihisa Ohya, Shin'ichi Yuta

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

This paper describes map building using a new scan matching method, Intensity-ICP. The method uses Laser Reflection Intensity of a laser range scanner named "SOKUIKI sensor". So compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and non geometric featured environments. We also propose two methods to remove outliers in scan matching. Laser Reflection Intensity and geometric constraint are used in these methods. As the result of using Intensity-ICP scan matching and outlier removing methods, an accurate map can be built. In addition, the map has abundant information; not only geometric data but also Laser Reflection Intensity, and it is useful for robust localization.

Original language	English
Title of host publication	2006 SICE-ICASE International Joint Conference
Pages	5951-5956
Number of pages	6
DOIs	https://doi.org/10.1109/SICE.2006.315836
Publication status	Published - 2006
Externally published	Yes
Event	2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: 2006 Oct 18 → 2006 Oct 21

Publication series

Name	2006 SICE-ICASE International Joint Conference

Other

Other	2006 SICE-ICASE International Joint Conference
Country/Territory	Korea, Republic of
City	Busan
Period	06/10/18 → 06/10/21

Keywords

Map building
SOKUIKI sensor
Scan matching

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/SICE.2006.315836

Cite this

Map building for mobile robots using a SOKUIKI sensor -robust scan matching using laser reflection intensity-. / Hara, Yoshitaka; Kawata, Hirohiko; Ohya, Akihisa et al.
2006 SICE-ICASE International Joint Conference. 2006. p. 5951-5956 4108644 (2006 SICE-ICASE International Joint Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hara, Y, Kawata, H, Ohya, A & Yuta, S 2006, Map building for mobile robots using a SOKUIKI sensor -robust scan matching using laser reflection intensity-. in 2006 SICE-ICASE International Joint Conference., 4108644, 2006 SICE-ICASE International Joint Conference, pp. 5951-5956, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 06/10/18. https://doi.org/10.1109/SICE.2006.315836

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keywords = "Map building, SOKUIKI sensor, Scan matching",

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AU - Hara, Yoshitaka

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AU - Ohya, Akihisa

AU - Yuta, Shin'ichi

PY - 2006

Y1 - 2006

N2 - This paper describes map building using a new scan matching method, Intensity-ICP. The method uses Laser Reflection Intensity of a laser range scanner named "SOKUIKI sensor". So compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and non geometric featured environments. We also propose two methods to remove outliers in scan matching. Laser Reflection Intensity and geometric constraint are used in these methods. As the result of using Intensity-ICP scan matching and outlier removing methods, an accurate map can be built. In addition, the map has abundant information; not only geometric data but also Laser Reflection Intensity, and it is useful for robust localization.

AB - This paper describes map building using a new scan matching method, Intensity-ICP. The method uses Laser Reflection Intensity of a laser range scanner named "SOKUIKI sensor". So compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and non geometric featured environments. We also propose two methods to remove outliers in scan matching. Laser Reflection Intensity and geometric constraint are used in these methods. As the result of using Intensity-ICP scan matching and outlier removing methods, an accurate map can be built. In addition, the map has abundant information; not only geometric data but also Laser Reflection Intensity, and it is useful for robust localization.

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Map building for mobile robots using a SOKUIKI sensor -robust scan matching using laser reflection intensity-

Abstract

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Keywords

ASJC Scopus subject areas

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