TY - GEN
T1 - Autonomously generating a 3D map of unknown environment by using mobile robots equipped with LRF
AU - Yokoya, Tsuyoshi
AU - Hasegawa, Tsutomu
AU - Kurazume, Ryo
PY - 2009
Y1 - 2009
N2 - This paper proposes an exploration method for an automated 3D map generation of an unknown environment by using a group of robots equipped with LRF (laser range finder). The robots are composed of a parent robot measuring its environmental structure and two child robots being used as landmarks for localization of the parent robot. The method decides positions of the robots to generate the accurate map. We conducted experiment of the map generation of a hall whose size is 70[m] x 35[m] x 8[m]. The positional error in the map was less than 10[cm].
AB - This paper proposes an exploration method for an automated 3D map generation of an unknown environment by using a group of robots equipped with LRF (laser range finder). The robots are composed of a parent robot measuring its environmental structure and two child robots being used as landmarks for localization of the parent robot. The method decides positions of the robots to generate the accurate map. We conducted experiment of the map generation of a hall whose size is 70[m] x 35[m] x 8[m]. The positional error in the map was less than 10[cm].
UR - http://www.scopus.com/inward/record.url?scp=77951469374&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951469374&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420656
DO - 10.1109/ROBIO.2009.5420656
M3 - Conference contribution
AN - SCOPUS:77951469374
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 269
EP - 274
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -