Active Ranging Sensors Based on Structured Light Image for Mobile Robot
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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