Trials of 3-D map construction using the tele-operated tracked vehicle kenaf at Disaster City

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

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

24 Citations (Scopus)

Abstract

This paper provides valuable information about 3-D map construction using a tracked vehicle at Disaster City. Disaster City is a training facility for the Federal Emergency Management Agency (FEMA) in the United States. FEMA staff used our rescue robot Kenaf to conduct simulated emergency testing. Kenaf is a tele-operated tracked vehicle that has high mobility suitable for use in outside terrains and inside buildings. We equipped Kenaf with a 3-D laser scanner that can measure dense and wide angle 3-D shapes. We collected about 50 3-D mapping data sets during the tests. A part of these data sets can be accessed at our website. In this paper, we explain the Kenaf's tele-operation system, the 3-D mapping system, and the comments about the usability of the 3-D mapping from FEMA staff. In addition, we discuss about the limit of our mapping method on the basis of the trials at Disaster City. This information will be helpful for researchers in the robotics to improve their method of 3-D map construction and their tracked vehicles.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages2864-2870
Number of pages7
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Trials of 3-D map construction using the tele-operated tracked vehicle kenaf at Disaster City'. Together they form a unique fingerprint.

Cite this