3P1-U02 RT components-based position estimation system of distributed sensors for easy construction of intelligent spaces(Intelligent Robotics Space (Integration of IT, RT and ET))

Abstract

Intelligent space is one of the methods for realizing human-robot coexisting environments. Generally, intelligent spaces are constructed with distributed and networked sensors for monitoring environments. In order to build intelligent spaces and achieve position-based applications using sensor data, we need to know sensor positions in a unified world coordinate system. In this paper, we present a system for easily estimating locations of sensors distributed in the intelligent space. This system is based on map sharing between a mobile robot and distributed sensors. Shared maps are compared with ICP matching to obtain correct sensor positions. The system using RT components and small embedded computers are developed and position estimation of a distributed sensor is demonstrated in the paper.