Active Ranging Sensors Based on Structured Light Image for Mobile Robot

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 240)

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.

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Copyright information

© Springer Science+Business Media Dordrecht(Outside the USA) 2013

Authors and Affiliations

  1. 1.Seoul National University of Science and TechnologySeoulRepublic of Korea

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