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 proceedingConference contribution

14 Citations (Scopus)


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 languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • 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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