View Planning and 3D Map Building by a Mobile Robot Equipped with Two Range Sensors

被引：0
|
作者：
Yamashita, Atsushi [1 ]
Iwashina, Shinya [1 ]
Kaneko, Toru [1 ]
机构：
[1] Shizuoka Univ, Dept Mech Engn, Naka Ku, Hamamatsu, Shizuoka 4328561, Japan
来源：
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose a view planning method that plans view points for efficient 3D map building by a mobile robot equipped with two LRFs (laser range finders). The robot searches for effective view points by predicting new measurement domains in the next view points, and then measures distances to obstacles around the robot with LRFs. The 3D map is generated by integrating range information obtained from multiple measurements. Experimental results show the effectiveness of the proposed method.
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页数：7
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