Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method
Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method
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基于扫描匹配法的履带式移动机器人在遮挡区域的三维定位与建图
DOI：
10.1109/iros.2004.1389393
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Yutaka Tanaka
中科院分区：
文献类型：
--
作者：
H. Ishida;K. Nagatani;Yutaka Tanaka
在城市搜索和救援（USAR）领域，履带式移动的机器人探索闭塞区域（倒塌的建筑物、地下购物中心等）是重要的。从安全角度考虑，优先于救援人员。为了绘制这样的闭塞环境，机器人定位它们的位置和姿态是重要的。在本文中，我们提出了两个三维定位算法的履带式移动的机器人。该算法是基于“三维扫描匹配”利用三维激光测距信息。在模拟灾害环境中，利用我们的履带式移动的机器人进行的实验验证了该方法的有效性和局限性。
In the fields of urban search and rescue (USAR), it is important that crawler-type mobile robots explore occluded areas (collapsed buildings, underground shopping centers, etc.) in preference to rescue workers from the point of view of safety. To map such an occluded environment, it is important for robots to localize their position and pose. In this paper, we propose two three-dimensional localization algorithms for crawler-type mobile robots. The algorithm is based on "three-dimensional scan-matching" using the three-dimensional laser range finder information. Several experiments using our crawler-type mobile robot verifies the validity and limitation of this method in a simulated disaster environment.