2A2-S05 ビジュアルオドメトリと多層型レーザスキャナによる2次元地図作成と位置推定手法(移動ロボットの自己位置推定と地図構築)

Abstract

As a first step, an autonomous robot needs to know where is himself in the environment. Simultaneous Localization and Mapping (SLAM) is a method of estimating its own position and creating a map of the surrounding environment in unknown area at the same time. In the conventional SLAM method, a wheel rotation angle (wheel odometry) has been need, but it cause some problems, the method is vulnerable to tilt and slip, difficult to porting to other robots, especially, the robot without wheels. Therefore, we propose the method of SLAM using IMU-based Visual Odometry and 3D-LIDAR. We use 6DoF estimation from a visual odometry instead of wheel odometry input, and to generate one-line laser scan from 3D-LIDAR. As a result, we obtain the real-time SLAM without wheel odometry, and demonstrate that it can apply not only to wheel mobile robot but also to human hand-held.