Science Links Japan | Study of Map Realization System. Recognition of Known Objects, Estimation of Invisible Area and Localization of Mobile Robot Using Shape Matrix Method.

Study of Map Realization System. Recognition of Known Objects, Estimation of Invisible Area and Localization of Mobile Robot Using Shape Matrix Method.

Accession number;02A0713956

Title;Study of Map Realization System. Recognition of Known Objects, Estimation of Invisible Area and Localization of Mobile Robot Using Shape Matrix Method.

Author; DOI TAKAHIRO (Tokyo Inst. of Technol.) HIROSE SHIGEO (Tokyo Inst. of Technol.)

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

Journal Code:L0318A

ISSN:

VOL.2002;NO.Pt.5;PAGE.2P2.D07(1)-2P2.D07(2)(2002)

Figure&Table&Reference;FIG.5, REF.6

Pub. Country;Japan

Language;Japanese

Abstract;We are proposing the MARS (MAp Realization System): a framework for interpolating invisible areas and localization by terrain database. MARS is based on the novel 3D shape representation Internal Radiated-light Projection and is effective for mobile robots to recognize the external world and execute adaptive behavior using 3D sensors. In this presentation, the experimental results of 1) interpolation of invisible area and 2) estimation of displacement of sensor by MARS using the real 3D data points from scanning laser range finder and the effectiveness and feasibility of MARS for mobile robots are demonstrated. (author abst.)

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