Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor

Yoshitaka Hara; Hirohiko Kawata; Akihisa Ohya; Shi N.Ichi Yuta

doi:10.1109/IECON.2006.347701

Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor

Yoshitaka Hara, Hirohiko Kawata, Akihisa Ohya, Shi N.Ichi Yuta

研究成果: Conference contribution

35 被引用数 (Scopus)

抄録

This paper describes a new scan matching method for mobile robot localization and mapping. The proposed method "Intensity-ICP" uses Laser Reflection Intensity obtained by u laser range scanner named "SOKUIKI sensor". Compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and featureless environments if there are some features like colors or materials. This method can build a map with Laser Reflection Intensity data. The map will be effective to robust localization because it has abundant information; not only geometric data but also Laser Reflection Intensity.

本文言語	English
ホスト出版物のタイトル	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ	3018-3023
ページ数	6
DOI	https://doi.org/10.1109/IECON.2006.347701
出版ステータス	Published - 2006
外部発表	はい
イベント	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France 継続期間: 2006 11月 6 → 2006 11月 10

出版物シリーズ

名前	IECON Proceedings (Industrial Electronics Conference)

Conference

Conference	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
国/地域	France
City	Paris
Period	06/11/6 → 06/11/10

ASJC Scopus subject areas

制御およびシステム工学
電子工学および電気工学

文献へのアクセス

10.1109/IECON.2006.347701

他のファイルとリンク

引用スタイル

Hara, Y, Kawata, H, Ohya, A & Yuta, SNI 2006, Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor. in IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 4153430, IECON Proceedings (Industrial Electronics Conference), pp. 3018-3023, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.347701

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author = "Yoshitaka Hara and Hirohiko Kawata and Akihisa Ohya and Yuta, {Shi N.Ichi}",

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AU - Yuta, Shi N.Ichi

PY - 2006

Y1 - 2006

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AB - This paper describes a new scan matching method for mobile robot localization and mapping. The proposed method "Intensity-ICP" uses Laser Reflection Intensity obtained by u laser range scanner named "SOKUIKI sensor". Compared with conventional scan matching methods which are effective just in geometric featured environments, Intensity-ICP is effective in both geometric featured and featureless environments if there are some features like colors or materials. This method can build a map with Laser Reflection Intensity data. The map will be effective to robust localization because it has abundant information; not only geometric data but also Laser Reflection Intensity.

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SN - 9781424401369

T3 - IECON Proceedings (Industrial Electronics Conference)

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BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

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Mobile robot localization and mapping by scan matching using laser reflection intensity of the SOKUIKI sensor

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出版物シリーズ

Conference

ASJC Scopus subject areas

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