Laser odometry taking account of the tilt on the laser sensor

Rui Saito; Keigo Watanabe; Isaku Nagai

doi:10.1109/ASCC.2015.7244648

Laser odometry taking account of the tilt on the laser sensor

Rui Saito, Keigo Watanabe, Isaku Nagai

School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.

Original language	English
Title of host publication	2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781479978625
DOIs	https://doi.org/10.1109/ASCC.2015.7244648
Publication status	Published - Sept 8 2015
Event	10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: May 31 2015 → Jun 3 2015

Other

Other	10th Asian Control Conference, ASCC 2015
Country/Territory	Malaysia
City	Kota Kinabalu
Period	5/31/15 → 6/3/15

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ASCC.2015.7244648

Cite this

Saito, R, Watanabe, K & Nagai, I 2015, Laser odometry taking account of the tilt on the laser sensor. in 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015., 7244648, Institute of Electrical and Electronics Engineers Inc., 10th Asian Control Conference, ASCC 2015, Kota Kinabalu, Malaysia, 5/31/15. https://doi.org/10.1109/ASCC.2015.7244648

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abstract = "Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.",

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AB - Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.

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M3 - Conference contribution

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Laser odometry taking account of the tilt on the laser sensor

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