The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2009
Session ID : 2A2-E21
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2A2-E21 Research on Finding and Judging of Point Landmarks Using a Laser Range Finder
Fumiaki NAKAZAWA, Yoshinobu ANDO, Makoto MIZUKAWA
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Keywords: Autonomous Robot, Outdoor Environment, Point Landmarks, Monte Carlo localization, Correction of Error
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Abstract
Position estimation by odometry has the accumulated error. Therefore, robots need the correction using landmarks. In this paper, we propose the method for finding point landmarks as well as the method of judging landmarks. To judge the landmark, we use the position, shape, and the size by approximationg a circle and other things.
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© 2009 The Japan Society of Mechanical Engineers
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