This paper describes a robust method for local selflocalization using point–to–point and point–to–line matching with a Lorentzian estimator. A 2-D laser telemeter is used to obtain distance measurements around the mobile robot within a range. The goal is to find the rigid transformation (displacement and rotation) that match two consecutive laser scans despite noisy measurements (outliers). In ...

This paper describes the development of an accurate long-distance position measurement system for construction pile using Laser Range Finders (LRF). The pile positioning and driving is the first work that is one of the important works to request the attentions in the building construction. In general, though the position of piling is measured by the total station that is high accurate survey ma...

This paper describes a map generation method using an omnidirectional stereo and a laser range finger. Omnidirectional stereo has an advantage of 3D range acquisition, while it may suffer from a low reliability and accuracy in range data. Laser range finders have advantage of reliable acquisition of data, while they usually obtain only 2D range information. By integrating these two sensors, a r...

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A multi-module architecture to detect, track and classify objects in semi-structured outdoor scenarios for intelligent vehicles is proposed in this paper. In order to fulfill this task it was used the information provided by a laser range finder (LRF) and a monocular camera. The detection and tracking phases are performed in the LRF space, and the object classification methods work both in lase...

This paper presents a technique to improve the performance of laser phase-shift range finders. The phase measurement is performed by using a new method to extract the phase-shift data from the peak of received and transmitted intermediate frequency signal amplitudes. The pulse width modulation is used to minimize the noise effect and enhance the signal amplitude measurement. The advantages of p...

In recent years, with the development of technology, introduction of autonomous mobile robots to environments close to human life is expected. Examples are shopping cart robots automatically returning to the shopping cart shed after shopping, and guide robots directing the way back to the starting position from the current position in unknown environment. In this paper, we propose a mobile robo...

This paper describes a low-cost interactive active monocular range finder and illustrates the effect of introducing interactivity to the range acquisition process. The rangefinder consists of only one camera and a laser pointel; to which three LEDs are attached. When a user scans the laser along s u ~ a c e s ofobjects, the camera captures the image of spots (one from the lasel; and the others ...