Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method

@article{Ishida2004ThreedimensionalLA,
  title={Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method},
  author={Hiroshi Ishida and Keiji Nagatani and Yutaka Tanaka},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={1},
  pages={449-454 vol.1}
}
In the fields of urban search and rescue (USAR), it is important that crawler-type mobile robots explore occluded areas (collapsed buildings, underground shopping centers, etc.) in preference to rescue workers from the point of view of safety. To map such an occluded environment, it is important for robots to localize their position and pose. In this paper, we propose two three-dimensional localization algorithms for crawler-type mobile robots. The algorithm is based on "three-dimensional scan… CONTINUE READING
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