Environment Recognition for Autonomous Mobile Robots Using 3D Measurement Technologies

Abstract

Environment recognition is a fundamental task for service robots to move autonomously and coexist in the same environment with people. A service robot uses data from environment in order to avoid obstacles, estimate its position, detect traversable roads, etc. LiDARs (Light Detection and Ranging) are among the dominant technologies for environment recognition, in particular 2D LiDARs are vastly used. However, it has been argued how for outdoor environments two-dimensional planar data is not sufficient, therefore there is an increasing demand for 3D LiDARs. Recently, small-lightweight 3D LiDARs for mobile robots have been developed. During the “Tsukuba Challenge”, where service robots probe their autonomous functions, it has been demonstrated how 3D LiDARs are effectively used outdoors on real public environments meant for people's living. We discuss the existing problems in 3D LiDARs and, as LiDAR manufacturer, we present the features we seek in prospect lasers to extend performance and capabilities.