Three-dimensional Localization and Mapping for Mobile Robot in Disaster Environments

Keiji Nagatani, Hiroshi Ishida, Satoshi Yamanaka, Yutaka Tanaka

Research output: Contribution to conferencePaperpeer-review

41 Citations (Scopus)

Abstract

To relieve damages of earthquake disaster, "The Special Project for Earthquake Disaster Mitigation in Urban Areas" have been kicked off in Japan. Our research group is a part of the sub-project "modeling of disaster environment for search and rescue" since 2002. In this project, our group aims to develop a three-dimensional mapping's algorithm that is installed in a mobile robot to search victims in a collapsed building. To realize this mission, it is important to map environment information, and also the mapping requires localization simultaneously. (This is called "SLAM problem".) In this research, we use three-dimensional map by laser range finder, and we also estimate its location in a global map using correlation technique. In this paper, we introduce our localization and mapping method, and we report a result of preparatory experiment for localization.

Original languageEnglish
Pages3112-3117
Number of pages6
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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