Transportable Sensor System for Three Dimensional Motion Distance Estimation and Mapping Using the In-Building Shape Feature
屋内形状の特徴を用いた可搬型の三次元移動量推定・環境地図生成システム

Mitsuhiro MATSUMOTO, Shin'ichi YUTA
2012 Transactions of the Japan Society of Mechanical Engineers Series C  
This paper describes a transportable system for estimating three dimensional motion distance and making three dimensional map in the building environment. This system takes three dimensional laser reflecting points information, and integrates them to make a map in the point cloud format after the estimation of sensing position using the three dimensional motion estimation. It estimates the self-location using the information of surfaces of walls, posts and ceilings as feature of the in-building
more » ... environment. We have developed the prototype system using a three dimensional scanning unit with the roundly swinging mechanism, and an posture sensor unit. The experimental results have shown the effectiveness of the method of three dimensional motion distance estimation designed for this system.
doi:10.1299/kikaic.78.3013 fatcat:4sc76bionfcmrhdu73avt2ynmy