| Presentation | 2006/6/29 3-D Map Generation in a Dynamic Environment by a Mobile Robot Equipped with Laser Range Finders Takumi NAKAMOTO, Atsushi YAMASHITA, Toru KANEKO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A map that has the information about obstacles is necessary for autonomous mobile robots, when they work in unknown environments. Additionally, they cannot avoid obstacles that are not on the same plane with a 2-D plane map. Moreover, moving objects may exist in the actual dynamic environment. In such a case, an exact map cannot be generated. Another problem is estimation of their present location on the map. They cannot start their action if they do not know the present location on the map. In this paper, we propose a method for 2-D map generation in a dynamic environment and 3-D map generation in a static environment. We also propose a method for estimating a present location of a mobile robot on a generated map. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Mobile Robot / Laser Range Finder / ICP algorithm / Dynamic Environment / 3-D Map Generation / Self-Localization |
| Paper # | WIT2006-21 |
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| Conference Information | |
| Committee | WIT |
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| Conference Date | 2006/6/29(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Well-being Information Technology(WIT) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | 3-D Map Generation in a Dynamic Environment by a Mobile Robot Equipped with Laser Range Finders |
| Sub Title (in English) | |
| Keyword(1) | Mobile Robot |
| Keyword(2) | Laser Range Finder |
| Keyword(3) | ICP algorithm |
| Keyword(4) | Dynamic Environment |
| Keyword(5) | 3-D Map Generation |
| Keyword(6) | Self-Localization |
| 1st Author's Name | Takumi NAKAMOTO |
| 1st Author's Affiliation | Department of Mechanical Engineering, Shizuoka University() |
| 2nd Author's Name | Atsushi YAMASHITA |
| 2nd Author's Affiliation | Department of Mechanical Engineering, Shizuoka University |
| 3rd Author's Name | Toru KANEKO |
| 3rd Author's Affiliation | Department of Mechanical Engineering, Shizuoka University |
| Date | 2006/6/29 |
| Paper # | WIT2006-21 |
| Volume (vol) | vol.106 |
| Number (no) | 144 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |