Parking place inspection system utilizing a mobile robot with a laser range finder

The automated inspection is desired to detect the vehicle in large parking space, which is difficult to survey by fixed the vision-sensor. We purposed mobile robot surveillance in parking space for parking lot inspection. To obtain the parking lot information, vision sensor is wide useful for parking lot state checking which measurement is difficult to obtain the positioning of vehicle while achieved by the laser range finder (LRF). In this research aims a laser range finder is acquired the positioning with directly measure the object in range scanner, which is obtains the data in the parking place. This paper purposed on ability of a LRF sensor with including reflection intensity data for data measuring in the parking lot by using a mobile robot which performs patrolling on multiple times in parking place for a parking lot inspection. We present experimental results to evaluate the effectiveness of the occupancy state recognition.