Laser-based geometric modeling using cooperative multiple mobile robots

Ryo Kurazume, Yusuke Noda, Yukihiro Tobata, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa

Research output: Contribution to journalConference articlepeer-review

22 Citations (Scopus)


In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are taken from various viewpoints. These images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be aligned roughly by a human operator in order to converge to precise positions. The present paper proposes a new modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Thus, the proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure or manual registration. ICP is applied optionally for a subsequent refinement of the model. Measurement experiments in unknown and large indoor/outdoor environments are carried out successfully using the newly developed measurement system consisting of three mobile robots named CPS-V. Generating a model of Dazaifu Tenmangu, a famous cultural heritage, for its digital archive completes the paper.

Original languageEnglish
Article number5152237
Pages (from-to)3200-3205
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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