This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Map Reconstruction in the Indoor Environment for the Purpose of Autonomous Vehicle Using Laser Radar
Technical Paper
2001-01-0806
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
SAE 2001 World Congress
Language:
English
Abstract
This paper proposes how to develop an autonomous vehicle for factory and/or storehouse use. Where the geometric arrangement changes frequently due to the turnover of the cargo. We apply the sensor fusion technique by use of the Omni directional image sensor and laser radar generate the map of such situations. We propose a new update algorithm called SMT (Shift Matching Transform) that obtains region segments with trusted semi-real-time geometric map. We demonstrate how to determined the absolute position of the vehicle by the position information of arbitrary wall. Experimental results on the corridor, Shows the semi-real-time map reconstruction with enough validity.
Authors
Citation
Kobayashi, K., Sugishita, S., and Watanabe, K., "Map Reconstruction in the Indoor Environment for the Purpose of Autonomous Vehicle Using Laser Radar," SAE Technical Paper 2001-01-0806, 2001, https://doi.org/10.4271/2001-01-0806.Also In
Intelligent Vehicle Initiative (Ivi) Technology and Navigation Systems
Number: SP-1593; Published: 2001-03-05
Number: SP-1593; Published: 2001-03-05
References
- Kanade Takeo “The trend of the autonomous mobile robot research in U.S.A.” Sensor Technology 5 5
- Oshima Y. et al. “Control for Automatic Driving” Proc. IFAC Tokyo Symposium 347 1965
- Kubota Takashi Nakatani Ichiro Ichie Yasuhide Tanida Nozomu “Experimental Study on Triangle Matching Method.” Proc. 13th JRSJ 285 1995
- Ando S. “Unattended Traveling Vehicle Guided by Optical Means” Proc. 4th ISIR 385 1974
- Iijima Junichi “The mapping of the unknown environment by the autonomous mobile robot.” Sensor Technology 11 12
- Maeyama Shoichi et al “Outdoor navigation using Perceived Route Map” Proc.15th JRSJ 177 1996
- Yamazaki Kazumasa Yagi Yasushi Yasuda Masahiko 3D Line Segment Reconstruction by using HyperOmni Vision and Omnidirectional Hough Transforming JRSJ 16 5 652 661 1998
- Arai T. et al The Control and Application of Omni-Directional Vehicle (ODV) Proc. IFAC 8th Congress 4 1855 1971