Mobile SOKUIKI Sensor System : Accurate Range Data Mapping System with Sensor Motion
Mobile SOKUIKI Sensor System : Accurate Range Data Mapping System with Sensor Motion
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发表时间：
2006
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通讯作者：
Tatsuro Ueda;H. Kawata;T. Tomizawa;A. Ohya
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作者：
Tatsuro Ueda;H. Kawata;T. Tomizawa;A. Ohya
在机器人技术中，二维激光测距仪常用来构建距离数据图。为了构建这样的地图，传感器在执行每次扫描时的位置和姿态应该被准确地估计。然而，在传统的激光扫描系统中，传感器不与模块同步，模块估计其位置和姿态。因此，如果传感器在扫描过程中移动，则无法获取传感器的正确位置和姿态。这导致了地图构造中的许多错误。本文首先介绍了使传感器与位置估计模块同步的定时配准方法。通过二维和三维扫描实验验证了该方法的有效性和实用性。
2D laser range finders are commonly used for constructing range data maps in robotics. In order to construct such maps, sensor’s position and posture when it is performing each scan should be estimated accurately. However, in conventional laser scanning system the sensor is not synchronised with the modules, which estimate its position and posture. Therefore, correct position and posture of the sensor cannot be acquired if the sensor moves while it is scanning. This causes many errors in map construction. This paper first describes the timing registration method that makes the sensor synchronised with position estimation modules. Then, effectiveness and usefulness of this method are evaluated by the 2D and 3D scanning experiments.