A sensor platform for outdoor navigation using gyro-assisted odometry and roundly-swinging 3D laser scanner

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 1414-1420

  Yoshida, Tomoaki ^a   Irie, Kiyoshi ^a   Koyanagi, Eiji ^a   Tomono, Masahiro ^a  

^a CHIBA INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

3D LASER SCANNERS; AUTONOMOUS MODE; DEAD RECKONING; GRID MAP; HUMAN-SCALE ROBOTS; LIGHT WEIGHT; LOW-COST SENSORS; ODOMETRY; OUTDOOR NAVIGATION; PARTICLE FILTER; SENSOR PLATFORM; SYSTEM USE; WIDE FIELD OF VIEW;

GYROSCOPES; INTELLIGENT ROBOTS; LASER APPLICATIONS; NAVIGATION; POSITION CONTROL; SCALES (WEIGHING INSTRUMENTS); SCANNING; SENSORS;

THREE DIMENSIONAL;

EID: 78651488516     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5652172     Document Type: Conference Paper

References (13)

1. O. Matsumoto, K. Komoriya, T. Hatase, and H. Nishimura, "Autonomous traveling control of the "tao aicle" intelligent wheelchair," in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4322-4327, Oct 2006.
2. K. Iwatsuka, K. Yamamoto, and K. Kato, "Development of a guide dog system for the blind people with character recognition ability," Pattern Recognition, International Conference on, vol. 1, pp. 453-456, 2004.
3. Y. Shimosasa, J. Kanemoto, K. Hakamada, H. Horii, T. Ariki, Y. Sugawara, F. Kojio, A. Kimura, and S. Yuta, "Security service system using autonomous mobile robot," in Proceedings of the 1999 IEEE International Conference on Systems,Man,and Cybernetics, vol. 4, pp. 825-829, Oct 1999.
4. DARPA, "Urban challenge." http://www.darpa.mil/grandchallenge/.
5. J. J. Leonard and H. F. Durrant-Whyte, "Mobile robot localization by tracking geometric beacons," Robotics and Automation, IEEE Transactions on, vol. 7, pp. 376-382, jun 1991.
6. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics(Intelligent Robotics and Autonomous Agents). The MIT Press, 2005.
7. B. Barshan and H. F. Durrant-Whyte, "Inertial navigation systems for mobile robots.," Robotics and Automation, IEEE Transactions on, vol. 11, pp. 328-342, Jun 1995.
8. J. Borenstein and L. Feng, "Gyrodometry: A new method for combining data from gyros and odometry in mobile robots," in Proceedings of the 1996 IEEE International Conference on Robotics and Automation, (Minneapolis), pp. 423-428, April 1996.
9. J. Borenstein and L. Ojeda, "Heuristic reduction of gyro drift in gyro-based vehicle tracking," in SPIE Defense, Security + Sensing; Conference 7305: Sensors, and Command, Control, Communications, and Intelligent (C3I) Technologies for Homeland Security and Homeland Defense VIII, (Orlando), April 2009.
10. New Technology Foundation, "Tsukuba challenge: Real world robot challenge." http://www.ntf.or.jp/challenge/. (In Japanese).
11. Hokuyo Automatic Co. , T. Mori, N. Shimaji, S. Yuta, A. Ohya, E. Koyanagi, and T. Yoshida, "Three-dimensional rangefinding device." Japanese Patent Disclosure JP 2008-134163A, 2008.
12. A. Desai and D. Huber, "Objective evaluation of scanning ladar configurations for mobile robots," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2009.
13. M. Matsumoto and S. Yuta, "3d sokuiki sensor module by roundly swinging mechanism and scip-3d interface," in Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence, (Kimdaejung Convention Center), pp. 37-41, October 2009.