物体の光反射特性を考慮した自由空間モデルに基づく環境地図生成

概要

This paper describes a map generation method for mobile robot’s self-localization with consideration of characteristics of laser scanners. Scanned data by laser scanners sometimes include wrong values because laser can be reflected in undesirable way depending on the reflectance of objects and on the angle of incidence. Therefore, we examined the reliability of scanned data for several objects, and developed the map generation method that uses only reliable data in the whole scanned data.

収録
日本機械学会ロボティクス・メカトロニクス講演会2011 (ROBOMEC2011)