3D Sensing and Mapping for a Tracked Mobile Robot with a Movable Laser Ranger Finder
This paper presents a sensing system for 3D sensing
and mapping by a tracked mobile robot with an arm-type sensor
movable unit and a laser range finder (LRF). The arm-type sensor
movable unit is mounted on the robot and the LRF is installed at the
end of the unit. This system enables the sensor to change position and
orientation so that it avoids occlusions according to terrain by this
mechanism. This sensing system is also able to change the height of
the LRF by keeping its orientation flat for efficient sensing. In this kind
of mapping, it may be difficult for moving robot to apply mapping
algorithms such as the iterative closest point (ICP) because sets of the
2D data at each sensor height may be distant in a common surface. In
order for this kind of mapping, the authors therefore applied
interpolation to generate plausible model data for ICP. The results of
several experiments provided validity of these kinds of sensing and
mapping in this sensing system.
[1] Toyomi Fujita and Yuya Kondo, "3D Terrain Measurement System with
Movable Laser Range Finder", Proceedings of 2009 IEEE International
Workshop on Safety, Security, and Rescue Robotics (SSRR 2009), 2009.
[2] M. Hashimoto, Y. Matsui, and K. Takahashi, "Moving-object tracking
with in-vehicle multi-laser range sensors," Journal of Robotics and
Mechatronics, vol. 20, no. 3, pp. 367-377, 2008.
[3] T. Ueda, H. Kawata, T. Tomizawa, A. Ohya, and S. Yuta, "Mobile
SOKUIKI Sensor System-Accurate Range Data Mapping System with
Sensor Motion," in Proceedings of the 2006 International Conference on
Autonomous Robots and Agents.
[4] K. Ohno and S. Tadokoro, "Dense 3D map building based on LRF data
and color image fusion," in 2005 IEEE/RSJ International Conference on
Intelligent Robots and Systems, 2005.(IROS 2005), 2005, pp.
2792-2797.
[5] J. Poppinga, A. Birk, and K. Pathak, "Hough based terrain classification
for realtime detection of drivable ground," Journal of Field Robotics, vol.
25, no. (1-2), pp. 67-88, 2008.
[6] A. Nuchter, K. Lingemann, and J. Hertzberg, "Mapping of rescue environments
with kurt3d," in In Proc. IEEE SSRR 2005, 2005, pp. 158-163.
[7] Z. Nemoto, H. Takemura, and H. Mizoguchi, "Development of Smallsized
Omni-directional Laser Range Scanner and Its Application to 3D
Background Difference," in Industrial Electronics Society, 2007. IECON
2007. 33rd Annual Conference of the IEEE, 2007, pp. 2284-2289.
[8] L. Iocchi, S. Pellegrini, and G. Tipaldi, "Building multi-level planar maps
integrating LRF, stereo vision and IMU sensors," in Safety, Security and
Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on,
2007, pp. 1-6.
[9] R. Sheh, M. Kadous, C. Sammut, and B. Hengst: "Extracting terrain
features from range images for autonomous random stepfield traversal,"
in Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International
Workshop on, 2007, pp. 1-6.
[10] P. J. Besl and N. D. Mckay: A method for registration of 3-d shapes,
IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2),
239-256, August 2002.
[11] Nuchter, A., Lingemann, K., Hertzberg, J. and Surmann, H., "6D
SLAM-3D mapping outdoor environments," Journal of Field Robotics,
vol. 24, issue 8-9, pp.699-722, 2007.
[12] S. Thrun, M. Montemerlo, and A. Aron, "Probabilistic terrain analysis for
high-speed desert driving," in Proceedings of Robotics Science and
Systems Conference, 2006.
[13] Nagatani, K., Matsuzawa, T., Yoshida, K., "Scan-point planning and 3-d
map building for a 3-d laser range scanner in an outdoor environment",
Springer Tracts in Advanced Robotics, vol. 62, pp. 207-217, 2010.
[14] A. Kehagias, J. Djugash, and S. Singh,"Range-only SLAM with
Interpolated Range Data," tech. report CMU-RI-TR-06-26, Robotics
Institute, Carnegie Mellon University, 2006.
[15] Hokuyo Automatic Co., Ltd.: in http://www.hokuyo-aut.co.jp.
[16] T. Barrera , A. Hast and E. Bengtsson "Incremental spherical linear
interpolation", Proc. SIGRAD, vol. 13, pp. 7 2004.
[1] Toyomi Fujita and Yuya Kondo, "3D Terrain Measurement System with
Movable Laser Range Finder", Proceedings of 2009 IEEE International
Workshop on Safety, Security, and Rescue Robotics (SSRR 2009), 2009.
[2] M. Hashimoto, Y. Matsui, and K. Takahashi, "Moving-object tracking
with in-vehicle multi-laser range sensors," Journal of Robotics and
Mechatronics, vol. 20, no. 3, pp. 367-377, 2008.
[3] T. Ueda, H. Kawata, T. Tomizawa, A. Ohya, and S. Yuta, "Mobile
SOKUIKI Sensor System-Accurate Range Data Mapping System with
Sensor Motion," in Proceedings of the 2006 International Conference on
Autonomous Robots and Agents.
[4] K. Ohno and S. Tadokoro, "Dense 3D map building based on LRF data
and color image fusion," in 2005 IEEE/RSJ International Conference on
Intelligent Robots and Systems, 2005.(IROS 2005), 2005, pp.
2792-2797.
[5] J. Poppinga, A. Birk, and K. Pathak, "Hough based terrain classification
for realtime detection of drivable ground," Journal of Field Robotics, vol.
25, no. (1-2), pp. 67-88, 2008.
[6] A. Nuchter, K. Lingemann, and J. Hertzberg, "Mapping of rescue environments
with kurt3d," in In Proc. IEEE SSRR 2005, 2005, pp. 158-163.
[7] Z. Nemoto, H. Takemura, and H. Mizoguchi, "Development of Smallsized
Omni-directional Laser Range Scanner and Its Application to 3D
Background Difference," in Industrial Electronics Society, 2007. IECON
2007. 33rd Annual Conference of the IEEE, 2007, pp. 2284-2289.
[8] L. Iocchi, S. Pellegrini, and G. Tipaldi, "Building multi-level planar maps
integrating LRF, stereo vision and IMU sensors," in Safety, Security and
Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on,
2007, pp. 1-6.
[9] R. Sheh, M. Kadous, C. Sammut, and B. Hengst: "Extracting terrain
features from range images for autonomous random stepfield traversal,"
in Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International
Workshop on, 2007, pp. 1-6.
[10] P. J. Besl and N. D. Mckay: A method for registration of 3-d shapes,
IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2),
239-256, August 2002.
[11] Nuchter, A., Lingemann, K., Hertzberg, J. and Surmann, H., "6D
SLAM-3D mapping outdoor environments," Journal of Field Robotics,
vol. 24, issue 8-9, pp.699-722, 2007.
[12] S. Thrun, M. Montemerlo, and A. Aron, "Probabilistic terrain analysis for
high-speed desert driving," in Proceedings of Robotics Science and
Systems Conference, 2006.
[13] Nagatani, K., Matsuzawa, T., Yoshida, K., "Scan-point planning and 3-d
map building for a 3-d laser range scanner in an outdoor environment",
Springer Tracts in Advanced Robotics, vol. 62, pp. 207-217, 2010.
[14] A. Kehagias, J. Djugash, and S. Singh,"Range-only SLAM with
Interpolated Range Data," tech. report CMU-RI-TR-06-26, Robotics
Institute, Carnegie Mellon University, 2006.
[15] Hokuyo Automatic Co., Ltd.: in http://www.hokuyo-aut.co.jp.
[16] T. Barrera , A. Hast and E. Bengtsson "Incremental spherical linear
interpolation", Proc. SIGRAD, vol. 13, pp. 7 2004.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:62356", author = "Toyomi Fujita", title = "3D Sensing and Mapping for a Tracked Mobile Robot with a Movable Laser Ranger Finder", abstract = "This paper presents a sensing system for 3D sensing
and mapping by a tracked mobile robot with an arm-type sensor
movable unit and a laser range finder (LRF). The arm-type sensor
movable unit is mounted on the robot and the LRF is installed at the
end of the unit. This system enables the sensor to change position and
orientation so that it avoids occlusions according to terrain by this
mechanism. This sensing system is also able to change the height of
the LRF by keeping its orientation flat for efficient sensing. In this kind
of mapping, it may be difficult for moving robot to apply mapping
algorithms such as the iterative closest point (ICP) because sets of the
2D data at each sensor height may be distant in a common surface. In
order for this kind of mapping, the authors therefore applied
interpolation to generate plausible model data for ICP. The results of
several experiments provided validity of these kinds of sensing and
mapping in this sensing system.", keywords = "Laser Range Finder, Arm-Type Sensor Movable Unit,Tracked Mobile Robot, 3D Mapping.", volume = "6", number = "2", pages = "505-6", }
