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Mobile Robot Localization and Mapping by Scan Matching using Laser Reflection Intensity of the SOKUIKI Sensor

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4 Author(s)
Yoshitaka, H. ; Intelligent Robot Lab., Tsukuba Univ. ; Hirohiko, K. ; Akihisa, O. ; Shin'ichi, Y.

This paper describes a new scan matching method for mobile robot localization and mapping. The proposed method "intensity-ICP" uses laser reflection intensity obtained by a laser range scanner named "SOKUIKI sensor". Compared with conventional scan matching methods which are effective just in geometric featured environments, intensity-ICP is effective in both geometric featured and featureless environments if there are some features like colors or materials. This method can build a map with laser reflection intensity data. The map will be effective to robust localization because it has abundant information; not only geometric data but also laser reflection intensity

Published in:
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Date of Conference: 6-10 Nov. 2006

Page(s):
3018 - 3023
ISSN :
1553-572X
Print ISBN:
1-4244-0390-1
INSPEC Accession Number:
9441717
Conference Location :
Paris
Digital Object Identifier :
10.1109/IECON.2006.347701
Product Type:
Conference Publications

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