Presentation 2005-09-01
Development of a Control System of a Mobile Robot for 3D Reconstruction of a Disaster Area
Katsuya KAWAI, Atsushi NAKAZAWA, Kiyoshi KIYOKAWA, Haruo TAKEMURA,
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Abstract(in Japanese) (See Japanese page)
Abstract(in English) Three dimensional geometry information, as well as live video image, of a disaster site is useful for damage investigation and rescue planning. In this report, presented is an information gathering mobile robot that acquires geometry information of a disaster site. After moving to every location directed by a remote operator, the robot acquires omnidirectional range data by using an omnidirectional range sensor, and estimates its position and orientation from the amount of wheels' rotation and an orientation sensor. Using the estimated location as the initial value, current and past range data are registered by the ICP algorithm. Indoor experiments have shown that the self-localization error was within five percents.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) disaster site / Three dimensional geometry / self-localization / registration
Paper # MVE2005-29
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Conference Information
Committee MVE
Conference Date 2005/8/25(1days)
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Paper Information
Registration To Media Experience and Virtual Environment (MVE)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Development of a Control System of a Mobile Robot for 3D Reconstruction of a Disaster Area
Sub Title (in English)
Keyword(1) disaster site
Keyword(2) Three dimensional geometry
Keyword(3) self-localization
Keyword(4) registration
1st Author's Name Katsuya KAWAI
1st Author's Affiliation Graduate School of Information Science, Osaka University()
2nd Author's Name Atsushi NAKAZAWA
2nd Author's Affiliation Graduate School of Information Science, Osaka University:Cybermedia Center, Osaka University
3rd Author's Name Kiyoshi KIYOKAWA
3rd Author's Affiliation Graduate School of Information Science, Osaka University:Cybermedia Center, Osaka University
4th Author's Name Haruo TAKEMURA
4th Author's Affiliation Graduate School of Information Science, Osaka University:Cybermedia Center, Osaka University
Date 2005-09-01
Paper # MVE2005-29
Volume (vol) vol.105
Number (no) 256
Page pp.pp.-
#Pages 6
Date of Issue