Mobile Robot Localization Using Map Based on Cadastral Data for Autonomous Navigation

DOI Web Site Web Site 被引用文献5件 参考文献17件
  • Hoshino Satoshi
    Department of Mechanical and Intelligent Engineering, Utsunomiya University
  • Yagi Hideaki
    Department of Mechanical and Intelligent Engineering, Utsunomiya University

この論文をさがす

抄録

<p>For autonomous navigation, localization in an environment is a fundamental capability. In this regard, it is necessary for robots to have environmental maps. The environmental maps are, in general, built beforehand through SLAM. On the other hand, the authors have focused on cadastral data including road and building information. In this paper, we propose a localization method using an environmental map based on the cadastral data. The robot is assumed to be equipped with 3D LiDAR. However, the cadastral data does not include natural objects, such as trees. Moreover, the position of a building in the cadastral data is sometimes different from its actual position in the environment. For data association between the sensor measurements and environmental map, we describe point cloud processing. Furthermore, we use an RGB-D camera to obtain a dense point cloud. In the navigation experiments, we show that the robot is able to move towards the destination autonomously through the localization in the map.</p>

収録刊行物

被引用文献 (5)*注記

もっと見る

参考文献 (17)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ