DocumentCode :
2240120
Title :
A laser scanner for landmark detection with the sewer inspection robot KANTARO
Author :
Ahrary, Alireza ; Kawamura, Yoshinori ; Ishikawa, Masumi
Author_Institution :
FAIS, Robotics Res. Inst., Kitakyushu
fYear :
2006
fDate :
24-26 April 2006
Abstract :
Robot localization and navigation is one of the fundamental issues involved in robotics. The sewer environment contains only few local features such as manholes, pipe joints and inlets that are usable as landmarks for localization. In order to find an autonomous sewer inspection robot´s way to a specified goal (manhole), it has to solve the landmark detection problem. This research describes how a new mobile laser scanner can be employed for robust and fast landmark detection. The methodology is proved with real time laser scanner data from the prototype autonomous sewer inspection robot platform, KANTARO, which carries the camera and other sensors inside the sewer pipe
Keywords :
mobile robots; optical scanners; KANTARO robot; autonomous sewer inspection robot; landmark detection; mobile laser scanner; robot localization; robot navigation; Cameras; Inspection; Laser fusion; Navigation; Robot localization; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor fusion; Ultrasonic transducers;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System of Systems Engineering, 2006 IEEE/SMC International Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
1-4244-0188-7
Type :
conf
DOI :
10.1109/SYSOSE.2006.1652314
Filename :
1652314
Link To Document :
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