3D terrain measurement system with movable laser range finder
3D terrain measurement system with movable laser range finder
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带有可移动激光测距仪的 3D 地形测量系统
DOI：
10.1109/ssrr.2009.5424153
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Yuya Kondo
中科院分区：
文献类型：
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作者：
Toyomi Fujita;Yuya Kondo
提出了一种履带式车辆机器人利用臂式移动机构的激光测距仪进行三维环境测量的方法。该装置安装在机器人上，LRF安装在装置的末端。该传感系统使传感器能够改变位置并以直角面对各种配置。由于该机构可以避免遮挡，因此机器人可以比通常使用旋转机构的具有LRF的传统3D传感系统更准确地测量诸如山谷、间隙、向上或向下楼梯的3D配置。在这项研究中，我们已经设计和制造了一个原型系统的可移动LRF单元，并将其安装在履带式车辆机器人与两个履带，我们一直在开发。基本三维感知的实验结果表明，所提出的系统是有用的感知更复杂的地形。
This paper presents a method for measuring 3D environment by a tracked vehicle robot using a laser range finder (LRF) with an arm-type movable unit. The unit is mounted on the robot and the LRF is installed at the end of the unit. This sensing system enables the sensor to change position and to face at a right angle to a variety of configuration. Because of the occlusion can be avoided by this mechanism, the robot can measure a 3D configuration such as valley, gap, upward or downward stairs more accurately than conventional 3D sensing system with the LRF, which have generally used a rotating mechanism. In this study, we have designed and fabricated a prototype system of the movable LRF unit and mounted it on a tracked vehicle robot with two crawlers that we have been developing. Experimental results for basic 3D sensing showed that proposed system is useful for sensing more complex terrain.