1A1-I05 Development of 3D scanning system using multiple robots and a precise laser scanner : Automatic planning of laser measurements and Outdoor experiment

Abstract

This paper proposes an automatic planning technique of a new laser measurement system using CPS-SLAM named CPS-VIII. The CPS-VIII consists of a parent robot which is equipped with a precise laser scanner and several child robots including wheeled robots and quadcopters. Each robot position is identified by Cooperative Positioning System, CPS. We conducted the 3D modeling experiment and verified that the accuracy of the 3D model is 0.023m after the parent robot moved 270.1m.