Development of a Ground Truth Localization System for Wheeled Mobile Robots in Indoor Environments based on Laser Range-finder for Low-cost Systems

In this paper, we introduce an approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and omnidirectional camera. Our approach is based on multisensor fusion in which a person is identified using the panoramic image and tracked using the Laser Range Finder (LRF). A target person selection is implemented to improve the identification when multiple candidates are detected. Our approach is successfully implemented on a mobile robot. A simplified target person following behavior is implemented to focus on the proposed method’s efficiency. Several experiments are conducted and showed the effectiveness of our approach to identify and follow human in indoor environments.

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A low-cost, optical feedback laser range-finder with chirp-control

IMTC 2001. Proceedings of the 18th IEEE Instrumentation and Measurement Technology Conference. Rediscovering Measurement in the Age of Informatics (Cat. No.01CH 37188) ◽

10.1109/imtc.2001.928244 ◽

2002 ◽

Cited By ~ 2

Author(s):

T. Bosch ◽

S. Pavageau ◽

D. D'Alessandro ◽

N. Servagent ◽

V. Annovazzi-Lodi ◽

...

Keyword(s):

Optical Feedback ◽

Low Cost ◽

Laser Range Finder ◽

Range Finder ◽

Laser Range

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Furniture Model Creation Through Direct Teaching to a Mobile Robot

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2008.p0213 ◽

2008 ◽

Vol 20 (2) ◽

pp. 213-220 ◽

Cited By ~ 6

Author(s):

Kimitoshi Yamazaki ◽

◽

Takashi Tsubouchi ◽

Masahiro Tomono ◽

◽

...

Keyword(s):

Mobile Robot ◽

Mobile Robots ◽

Real Life ◽

Experimental Results ◽

Sensor Data ◽

Small Object ◽

Laser Range Finder ◽

Range Finder ◽

Laser Range ◽

Direct Teaching

In this paper, a modeling method to handle furniture is proposed. Real-life environments are crowded with objects such as drawers and cabinets that, while easily dealt with by people, present mobile robots with problems. While it is to be hoped that robots will assist in multiple daily tasks such as putting objects in into drawers, the major problems lies in providing robots with knowledge about the environment efficiently and, if possible, autonomously.If mobile robots can handle these furniture autonomously, it is expected that multiple daily jobs, for example, storing a small object in a drawer, can be performed by the robots. However, it is a perplexing process to give several pieces of knowledge about the furniture to the robots manually. In our approach, by utilizing sensor data from a camera and a laser range finder which are combined with direct teaching, a handling model can be created not only how to handle the furniture but also an appearance and 3D shape. Experimental results show the effectiveness of our methods.

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Unsynchronized scanning with a low-cost laser range finder for real-time range imaging

10.1117/12.2268330 ◽

2017 ◽

Author(s):

Isa Hatipoglu ◽

Arie Nakhmani

Keyword(s):

Real Time ◽

Low Cost ◽

Time Range ◽

Laser Range Finder ◽

Range Finder ◽

Range Imaging ◽

Laser Range

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A Study on Position Measurement System Using Laser Range Finder and its Application for Construction Work

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2012.p0226 ◽

2012 ◽

Vol 24 (1) ◽

pp. 226-234 ◽

Cited By ~ 1

Author(s):

Fumihiro Inoue ◽

◽

Takeshi Sasaki ◽

Xiangqi Huang ◽

Hideki Hashimoto ◽

...

Keyword(s):

Measurement System ◽

Low Cost ◽

Least Square ◽

Laser Range Finder ◽

Range Finder ◽

Construction Work ◽

Position Measurement ◽

Laser Range ◽

High Efficient ◽

Center Position

This paper describes a study of high accuracy and low cost position measurement system using Laser Range Finder (LRF), and its application for construction pile work. Since the LRF is a sensor which can measure distance to surfaces of objects by radiating laser beams from itself and receiving the reflected ones, an obtained data from the LRF are nothing more than the contours of objects. In proposed system, the obtained data from LRF assumed the arc-shaped contours of the bar, the center position was analyzed introducing the least square method and maximum likelihood estimation. The error between the analysis and the measurement corresponds enough to the allowable accurate range. Additionally, improving the angular resolution of the LRF by using a pan unit, the highest accurate center position was able to be acquired. Applying this system to the construction work, the high accurate pile marking and the pile drive positioning were recognized. Since this measurement was achieved by only a worker and the position and direction of the worker was easily found, the high efficient and short term works were surely performed.

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