抄録
This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for autonomous mobile robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor experiments were performed in our campus and at the Tsukuba Challenge 2009.
