書誌事項
- タイトル別名
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- Measurement of the 3-D Position and Attitude of a Vehicle by Use of On-Board Laser Fan Beam Scanners and Corner Cubes
- イドウタイ トウサイ レーザスキャナ ニ ヨル イドウタイ ノ 3ジゲン イチ シセイ ケイソクホウ
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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.
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 13 (6), 284-292, 2000
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390001205165190400
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- NII論文ID
- 10004473155
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 5370199
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可