Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method

Hiroshi Ishida, Keiji Nagatani, Yutaka Tanaka

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

14 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages449-454
Number of pages6
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume1

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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