2D Mapping of a Closed Area by a Range Sensor

Shinya Ogawa; Kajiro Watanabe; Kazuyuki Kobayashi

doi:10.11499/sicep.2002.0.293.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.293.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

2D Mapping of a Closed Area by a Range Sensor

Shinya Ogawa, Kajiro Watanabe, Kazuyuki Kobayashi

Author information

Keywords: mapping, line segment, self-positioning, laser rangefinder

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 293

Details

Abstract

This paper presents a new incremental map building and self-positioning method for an unmanned conveyance car in a closed area such as in the factory storehouse. To navigate the conveyance car, accurate map is required. The proposed method is based on the detection of straight line segment measured by laser rangefinder. The proposed method was validated by experiments.

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