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A new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, and it also enlarges the...
A stair recognition with laser range scanning for continuous stair climbing by limb mechanism ldquoASTERISKrdquo is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position...
The paper presents a new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution grid map. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, even if the input scan points are in the outside of the reference grid area. It also enlarges the convergence area by modifying the eigenvalue of normal distribution...
In this paper, we propose an object localization method for home environments. This method utilizes RFID equipments, a mobile robot and some ceiling cameras. The RFID system estimates a rough position of each object. The autonomous robot with RFID antennas explores the environment so as to detect other objects on the floor. Each object that is attached an RFID tag, is then recognized by utilizing...
The collaboration of monitoring robot and UFAM (ubiquitous functions activate module) is proposed to achieve automated, wide-range applicable, precise, speedy, and cost-low monitoring and inspection systems. With the advancement of RFID technology, robots are capable of obtaining more intelligence and more flexibility. We have already proposed the idea of the collaboration between mobile robot and...
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