Shinya Iwashina

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When an autonomous mobile robot acts in constructed environments, a map that has the information about obstacles is necessary for the mobile robot. Even if a map is given, however, the mobile robot cannot start its action without the information of its present location on the map. Therefore, techniques of map generation and self-localization are important(More)
In this paper, we propose a view planning method that plans view points for efficient 3D map building by a mobile robot equipped with two LRFs (laser range finders). The robot searches for effective view points by predicting new measurement domains in the next view points, and then measures distances to obstacles around the robot with LRFs. The 3D map is(More)
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