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A sensor platform for outdoor navigation using gyro-assisted odometry and roundly-swinging 3D laser scanner

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4 Author(s)
Tomoaki Yoshida ; Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Japan ; Kiyoshi Irie ; Eiji Koyanagi ; Masahiro Tomono

This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for localization of human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. Robust and computationally inexpensive localization is implemented on the sensor platform using a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were performed at the Tsukuba Challenge 2009, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km course in a fully autonomous mode multiple times.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010