Three-dimensional localization and mapping for mobile robot in disaster environments
Three-dimensional localization and mapping for mobile robot in disaster environments
复制标题
灾害环境下移动机器人三维定位与建图
DOI：
10.1109/iros.2003.1249635
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Yutaka Tanaka
中科院分区：
文献类型：
--
作者：
K. Nagatani;H. Ishida;Satoshi Yamanaka;Yutaka Tanaka
为减轻地震灾害造成的损失，日本启动了“城市防震减灾专项工程”。本课题组是2002年起开展的“面向搜救的灾害环境建模”子课题的一部分。在这个项目中，我们团队的目标是开发一种三维地图算法，安装在移动机器人上，以搜索倒塌建筑中的受害者。要实现这一使命，环境信息的测绘是非常重要的，同时测绘也需要定位。(这被称为“大满贯问题”。)在这项研究中，我们使用激光测距的三维地图，并利用相关技术估计其在全球地图上的位置。在本文中，我们介绍了我们的定位和映射方法，并报告了定位的准备实验结果。
To relieve damages of earthquake disaster, "The Special Project for Earthquake Disaster Mitigation in Urban Areas" have been kicked off in Japan. Our research group is a part of the sub-project "modeling of disaster environment for search and rescue" since 2002. In this project, our group aims to develop a three-dimensional mapping's algorithm that is installed in a mobile robot to search victims in a collapsed building. To realize this mission, it is important to map environment information, and also the mapping requires localization simultaneously. (This is called "SLAM problem".) In this research, we use three-dimensional map by laser range finder, and we also estimate its location in a global map using correlation technique. In this paper, we introduce our localization and mapping method, and we report a result of preparatory experiment for localization.