3-D mapping of an underground mall using a tracked vehicle with four sub-tracks

Kazunori Ohno, Satoshi Tadokoro, Keiji Nagatani, Eiji Koyanagi, Tomoaki Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

The authors attempted to create a 3-D map of an underground mall and subway station using a tracked vehicle. This paper is a field report of the 3-D mapping of the Sendai subway station by the tracked vehicle in Dec. 2007. From the ticket barriers to the platform, the Sendai subway station consists of three floors. For the 3-D mapping, we developed a tracked vehicle named "Kenaf", a small and light-weight 3-D laser scanner called TK scanner, and a robust 3-D scan matching method. Kenaf can pass through ticket barriers and climb up and down stairs, while TK scanner has a wide view angle and can measure dense 3-D shapes. During the experiment, the robot stopped at different points and collected 3-D scan data. The 3-D shapes were recorded by the TK scanner as point clouds. These 3-D point clouds were integrated into a map on the basis of odometry data on-line. The constructed map was not correct because of the lack of robot position z and the odometry error. The 3-D map was constructed by matching these 3-D point clouds off-line. To increase the robustness of the matching, we used the iterative closest point (ICP) matching method with a gravity constraint.

Original languageEnglish
Title of host publication2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009 - Denver, CO, United States
Duration: 2009 Nov 32009 Nov 6

Publication series

Name2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009

Other

Other2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
Country/TerritoryUnited States
CityDenver, CO
Period09/11/309/11/6

Keywords

  • 3-D Mapping
  • 3-D laser scanner
  • Tracked vehicle
  • Underground mall

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Safety, Risk, Reliability and Quality

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