Map Generation of a Mobile Robot by Integrating Omnidirectional Stereo and Laser Range Finder

2002 ◽  
Vol 2002 (0) ◽  
pp. 109
Author(s):  
Y. Negishi ◽  
J. Miura ◽  
Y. shirai
Keyword(s):  
Mobile Robot ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
Map Generation

scholarly journals Map Generation of a Mobile Robot by Integrating Omnidirectional Stereo and Laser Range Finder

2003 ◽  
Vol 21 (6) ◽  
pp. 690-696 ◽  
Author(s):  
Yoshiro Negishi ◽  
Jun Miura ◽  
Yoshiaki Shirai
Keyword(s):  
Mobile Robot ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
Map Generation

scholarly journals Human Tracking with a Mobile Robot using a Laser Range-Finder

2006 ◽  
Vol 24 (5) ◽  
pp. 605-613 ◽  
Author(s):  
Shinichi Okusako ◽  
Shigeyuki Sakane
Keyword(s):  
Mobile Robot ◽  
Human Tracking ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range

Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance

2021 ◽  
Vol 33 (1) ◽  
pp. 33-43
Author(s):  
Kazuhiro Funato ◽  
Ryosuke Tasaki ◽  
Hiroto Sakurai ◽  
Kazuhiko Terashima ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Sensor Fusion ◽  
Experimental Verification ◽  
Inertial Measurement Unit ◽  
Tracking System ◽  
Measurement Unit ◽  
Laser Range Finder ◽  
Range Finder ◽  
Inertial Measurement ◽  
Laser Range

The authors have been developing a mobile robot to assist doctors in hospitals in managing medical tools and patient electronic medical records. The robot tracks behind a mobile medical worker while maintaining a constant distance from the worker. However, it was difficult to detect objects in the sensor’s invisible region, called occlusion. In this study, we propose a sensor fusion method to estimate the position of a robot tracking target indirectly by an inertial measurement unit (IMU) in addition to the direct measurement by an laser range finder (LRF) and develop a human tracking system to avoid occlusion by a mobile robot. Based on this, we perform detailed experimental verification of tracking a specified person to verify the validity of the proposed method.

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