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 |
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Conference Date | 2005/8/25(1days) |
Place (in Japanese) | (See Japanese page) |
Place (in English) | |
Topics (in Japanese) | (See Japanese page) |
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Paper Information | |
Registration To | Media Experience and Virtual Environment (MVE) |
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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 |