Methods for measuring or estimating ground shape by a laser range finder and a vision sensor (Exteroceptive sensors) have critical weaknesses in terms that these methods need a prior database built to distinguish acquired data as unique surface conditions for driving. Also, ground information by Exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UG...

Self-localization in dynamic environments is a central problem in mobile robotics and is well studied in the literature. One of the most popular methods is the Monte Carlo Localization algorithm (MCL). Many deployed systems use MCL together with a laser range finder in well structured indoor environments like office buildings with a rather rich collection of landmarks. In symmetric environments...

This thesis describes the development of high bandwidth (~1 GHz) TOF (time-of-flight) laser range finder techniques for industrial measurement applications in the measurement range of zero to a few dozen metres to diffusely reflecting targets. The main goal has been to improve single-shot precision to mm-level in order to shorten the measurement result acquisition time. A TOF laser range finder...

This paper presents a 3D reconstruction technique for real world environments based on a traditional 2D laser range finder modified to implement a 3D laser scanner. The paper describes the mechanical and control issues addressed to achieve physically the 3D sensor as well as the adaptation of some previously developed techniques used to merge range and intensity data and illustrates the potenti...