移動体搭載レーザスキャナによる移動体の3次元位置姿勢計測法 Measurement of the 3-D Position and Attitude of a Vehicle by Use of On-Board Laser Fan Beam Scanners and Corner Cubes
This paper proposes a new method for measuring the position and attitude of an autonomous land vehicle navigating in a rough terrain. The measurement system proposed here provides precise information on position and heading quickly and continuously. It consists of two laser scanners mounted on the vehicle and corner cubes placed in the environment as landmarks. Each laser scanner rotates a fan-shaped laser beam for detecting the retro-reflections by the corner cubes and measures their azimuth angles. This paper presents the principle of measurement and method of positional and attitude estimation. Simulation results are given to show the accuracy of the proposed method. This paper reports the measurement principle, simulation and experimental results.
システム制御情報学会論文誌 13(6), 284-292, 2000-06-15