Abstract
The authors aim at constructing a three-dimensional map by rescue dogs. Rescue dogs can search large scaled disaster sites quickly, because of its keen nose and its high physical ability. To construct a three-dimensional map, it is necessary to measure the position and posture of the dog. The authors propose a dog motion estimation method using Inertial Measurement Unit(IMU) and Global Positioning System(GPS). It is hard to measure the dog motions because the measuring devices cannot be directly fixed on the dogs. In addition, it is necessary to consider the balance of the measuring devices because the weight prevents the dog's motion. Therefore, the authors arrange the layout of the measuring devices on the dog's vest. We evaluated the measurement system by the experiments of the dog walks and runs. We also estimated the velocity and posture from the sensor information obtained from the measurement system.
