Science Links Japan | Map Generation of a Mobile Robot by Integrating Omnidirectional Stereo and Laser Range Finder.

Map Generation of a Mobile Robot by Integrating Omnidirectional Stereo and Laser Range Finder.

Accession number;02A0713955

Title;Map Generation of a Mobile Robot by Integrating Omnidirectional Stereo and Laser Range Finder.

Author; NEGISHI YOSHIRO (Osaka Univ.) MIURA JUN (Osaka Univ.) SHIRAI YOSHIAKI (Osaka Univ.)

Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu

Journal Code:L0318A

ISSN:

VOL.2002;NO.Pt.5;PAGE.2P2.D06(1)-2P2.D06(2)(2002)

Figure&Table&Reference;FIG.7, REF.3

Pub. Country;Japan

Language;Japanese

Abstract;This paper proposes a method of making a map by integrating omnidirectional stereo and laser range finder. The robot first generates a map for each sensor. To cope with the uncertainty in range data, such as false objects and measurement errors, we develop a probabilistic uncertainty model of the sensor and use it for temporal integration of data. By integrating the maps of the two sensors, the robot obtains a reliable environment map. Experimental results of map generation and autonomous navigation in unknown environments show the validity of the proposed method. (author abst.)

Related Articles;