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1 3,,, 3D laser measurement and map generation b cooperative multiple robots Yukihiro TOBATA, Ro KURAZUME, Kouji MURAKAMI and Tsutomu HASEGAWA Dept. of Intelligent Sstems, Graduate School of Information Science and Electrical Engineering, Kushu Universit 744 Motooka, Nishi-ku, Fukuoka-cit, Fukuoka Japan In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are normall taken from various viewpoints, and these images are aligned using post-processing procedures such as the ICP algorithm. The present paper proposes a new measurement sstem for large-scale architectural structures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified b a highl precise positioning technique called Cooperative Positioning Sstem (CPS), which utilizes the characteristics of the multiple-robot sstem. Measurement eperiments in unknown and large indoor/outdoor environments are successfull carried out using the newl developed measurement sstem consisting of three mobile robots named CPS-V. Path planning eperiments using D grid map generated from 3D local range data are also introduced. Ke Words : SLAM, 3D map, Multiple robot, Cooperative Positioning, Laser range Finder. SLAM(Simultaneous localization and mapping) (4)(5)(6) SLAM () () () tobata@irvs.is.kushu-u.ac.jp SLAM GPS () Cooperative Positioning Sstem CPS (7) ICP (3)(4) GPS CPS SLAM CPS-SLAM (0)()() CPS-SLAM 3
2 . CPS A,B A B A B A,B CPS () () (3) (4) 0m 33.9m 0.97m 0.3% (8) Parent robot z 0 0 r ψ φ 3. 3 (CPS) CPS ICP CPS CPS-V CPS-V 3 5 CPS CPS-V 5 CPS CPS-V (P-cle, Parent mobile unit, 4) (HPI Japan, 3). (LMS 00, Sick) (GTS-85A, TOPCON Ltd.)( ) 80m 80 ( ) 3 ( 4) CPS 3 -ais attitude sensor Parent robot Child robots () Robot and move. () Robot 0 measures the position of robot. r ψ φ 0 r ψ φ 0 r ψ φ Fig. Child robot Child robot 5 CPS CPS-V (3) Robot 0 measures the position of robot. Fig. (4) Robot 0 moves and measures the position of robots and. (CPS) 3 5 CPS CPS-V 3
![) Corridor Upstairs Hall Fig. 4 Yaw 3 Corner (9., -3.9, 0.) GTS-85A (TOPCON Ltd.) Range.3,00[m] Resolution (distance) 0.](/docs-images/91/104846729/images/3-1.jpg "[mm] Resolution (angle) 3 Precision (distance) ppm[mm] Precision (angle) 5 Table GTS-85A LMS 00 (SICK Corp.) Range 80[m] Field of view 80 Resolution (distance) 0[mm] Resolution (angle) 0.")
3 Corner cubes Celeron 650 MHz Fig. 3 Yaw D scanning laser range finder, LMS00 Batter DC servomotor (36 W) Total station, GTS-85A 3 a b c 3 CPS ICP 3 0 m -ais attitude sensor Parent mobile unit, P-cle (33.7, 6.3, 0.) Corridor Upstairs Hall Fig. 4 Yaw 3 Corner (9., -3.9, 0.) GTS-85A (TOPCON Ltd.) Range.3,00[m] Resolution (distance) 0.[mm] Resolution (angle) 3 Precision (distance) ppm[mm] Precision (angle) 5 Table GTS-85A LMS 00 (SICK Corp.) Range 80[m] Field of view 80 Resolution (distance) 0[mm] Resolution (angle) 0.5 Table LMS m 3m CPS 93.9m 0.m 0.4% aw.5 6, Fig. 5 : Scanning positions of parent robot. Path of parent robot : Scanning positions of parent robot. Child robots moved after the measurement. : Positions of child robot. : Positions of child robot. Fig. 6 (0, 0, 0) (0, 0, 0.) Downstairs 50 m CPS-V ,0
4 (a) (a) (b) (b) Fig. 9 3 (c) (c) Fig. 7 3 (a) (a) 0 m (36.4, -.5, -0.03) Benches Side of the building (b) (b) (0.0, 0.0, 0.0) (-.4, 0.7, -0.03) (4.3, -3.0, -0.03) Rocks : Scanning positions of parent robot Fig. 8 ICP (c) (c) Fig m 0.43% aw m
5 30.6m 0.80m 0.6% aw 0.7 Fig. Position α View from position β Fig. (0., -0., 0.7) Rough area Slope (34.6,., -.8) Position α appro. 3m above position β Position β Position β View from position α 3 Position α Cars 0 m (0.0, 0.0, 0.0) (0.5, 7.8, -0.7) Pond Slope : Scanning positions of parent robot. Position β CPS-SLAM Quadtree 0cm 0.06 (Pentium(R) 4 CPU 3.00GHz,.00GB RAM) 3 06m 33m 0m 4 3 5,6 7 0m 9cm Fig. 3
6 0 m Biccle-parking space (0, 0, 0) Cliff (-9.5, -3., 0.3) : Scanning position of parent robot. (-3., -3.5, 0.3) Path of parent robot Wall (4.5, -6.9, 0.7) Estimated path Current position Net position of parent robot of parent robot (a) Position 0 (b) Position Fig. 4 (c) Position (d) Position 3 0 m Fig. 5 3 (e) Position 7 (f) Position (a) (b) Fig CPS) CPS ICP 3 (g) Position 5 (h) Position 9 Fig. 7 ICP 3 () K. Ikeuchi, K. Hasegawa, A. Nakazawa, J. Takamatsu, T. Oishi and T. Masuda Baon Digital Archival Project, In Proceedings of the Tenth International Conference on Virtual Sstem and Multimedia, pages , Nov () Marc Levo, Kari Pulli, Brian Curless, Szmon Rusinkiewicz, David Koller, Lucas Pereira, Matt Ginzton, Sean Anderson, James Davis, Jerem Ginsberg, Jonathan
7 Shade, and Duane Fulk The Digital Michelangelo Project: 3D Scanning of Large Statues, Proceedings of ACM SIGGRAPH 000,pp.3-44, Jul. 000 (3) P. J. Besl and N. D. McKa A method for registration of 3-D shapes, IEEE Trans. Pattern Anal. Machine Intell. 4() 99, (4) Y. Chen and G. Medioni: Object modelling b registration of multiple range images, Image and Vision Computing 0(3), 99, (5) H. Zhao, R. Shibasaki Reconstructing a tetured CAD model of an urban environment using vehicle-borne lase range scanners and line cameras, Machine Vision and Applications, vol. 4, pp. 35-4, 003. (6) K. Ohno, T. Tsubouchi, S. Yuta Outdoor Map Based on Odometor and RTK-GPS Positioning Fusion, Proc. IEEE International Conference on Robotics and Automation, pp , New Orleans, LA, Apr (7) S. Hirose, R. Kurazume, S. Nagata Cooperative Positioning Sstem with Multiple Robots, Journal of the Robotics Societ of Japan, vol. 3, no. 6, pp , Sep. 995 (8) R. Kurazume, S. Hirose Stud on Cooperative Positioning Sstem, Proc. the 6th Annual Conference of the Robotics Societ of Japan, pp.69-70, Oct (9) R. Kurazume, S. Hirose, T. Iwasaki, S. Nagata Stud on Cooperative Positioning Sstem -Map creation b CPS Based Active Touch, Journal of the Robotics Societ of Japan, vol. 7, no., pp , Jan. 999 (0) Y. Tobata, R. Kurazume, K. Murakami, T. Hasegawa Stud on CPS SLAM: SLAM eperiments using CPS-V and LRF, Proc. the 4th Annual Conference of the Robotics Societ of Japan, N7, Sep () Y. Tobata, R. Kurazume, H. Yamada, K. Murakami, T. Hasegawa Stud on CPS SLAM: Automatic construction of 3D map b CPS and laser range finder, Proc. robomec 07, P-G () Y. Tobata, R. Kurazume, K. Murakami, T. Hasegawa 3D laser measurement sstem using multiple mobile robots, Proc. the 5th Annual Conference of the Robotics Societ of Japan, I34, Sep (3) R. Kurazume, S. Hirose, T. Iwasaki, S. Nagata, N. Sashida Stud on Cooperative Positioning Sstem - Optimized Moving Strateg for the CPS- sstem, Journal of the Robotics Societ of Japan, vol. 5, no. 5, pp , Jul 997. (4) Andress Nuchter and Hartmut Surmann 6D SLAM with an Application in Autonomous Mine Mapping, Proc. IEEE International Conference on Robotics and Automation, pp , 004. (5) Jan Weingarten and Roland Siegwart EKF-based 3D SLAM for Structured Environment Reconstruction, Proc. IEEE/RSJ International Conference on Intelligent Robots and Sstem, pp , 005. (6) David M. Cole and Pual M. Newman Using Laser Range Data for 3D SLAM in Outoor Environment, Proc. IEEE International Conference on Robotics and Automation, pp , 006.
1234 Vol. 25 No. 8, pp , 2007 CPS SLAM Study on CPS SLAM 3D Laser Measurement System for Large Scale Architectures Ryo Kurazume,Yukihiro Toba
1234 Vol. 25 No. 8, pp.1234 1242, 2007 CPS SLAM Study on CPS SLAM 3D Laser Measurement System for Large Scale Architectures Ryo Kurazume,Yukihiro Tobata,KoujiMurakami and Tsutomu Hasegawa In order to construct
A Navigation Algorithm for Avoidance of Moving and Stationary Obstacles for Mobile Robot Masaaki TOMITA*3 and Motoji YAMAMOTO Department of Production
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