Abstract
In this paper, we propose a ring array of active structured light image-based ranging sensors for a mobile robot. Since the ring array of ranging sensors can obtain omnidirectional distances to surrounding objects, it is useful for building a local distance map. By matching the local omnidirectional distance map with a given global object map, it is also possible to obtain the position and heading angle of a mobile robot in global coordinates. Experiments for omnidirectional distance measurement, matching, and localization were performed to verify the usefulness of the proposed ring array of active ranging sensors.
This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2011-0009113).
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© 2013 Springer Science+Business Media Dordrecht(Outside the USA)
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Shin, J., Yi, SY. (2013). Active Ranging Sensors Based on Structured Light Image for Mobile Robot. In: Park, J., Ng, JY., Jeong, HY., Waluyo, B. (eds) Multimedia and Ubiquitous Engineering. Lecture Notes in Electrical Engineering, vol 240. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6738-6_89
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DOI: https://doi.org/10.1007/978-94-007-6738-6_89
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