Measurement of the 3-D Position and Attitude of a Vehicle by Use of On-Board Laser Fan Beam Scanners and Corner Cubes

• KOMATSU Nobuo

  Shizuoka Institute of Science and Technology

• TSUMURA Toshihiro

  Osaka Institute of Technology

• OKUBO Hiroshi

  Osaka Prefecture University

Bibliographic Information

Other Title

• 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
• 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

Abstract

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.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 13 (6), 284-292, 2000

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• vehicle
• position measurement
• laser fan beam
• corner cube
• car navigation

Details

• CRID: 1390001205165190400
• NII Article ID: 10004473155
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.13.6_284
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 5370199
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5370199
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed