This paper proposes how to develop an autonomous vehicle for factory and/or storehouse use. Where the geometric arrangement changes frequently due to the turnover of the cargo. We apply the sensor fusion technique by use of the Omni directional image sensor and laser radar generate the map of such situations. We propose a new update algorithm called SMT (Shift Matching Transform) that obtains region segments with trusted semi-real-time geometric map. We demonstrate how to determined the absolute position of the vehicle by the position information of arbitrary wall. Experimental results on the corridor, Shows the semi-real-time map reconstruction with enough validity.
Map Reconstruction in the Indoor Environment for the Purpose of Autonomous Vehicle Using Laser Radar
Sae Technical Papers
SAE 2001 World Congress ; 2001
2001-03-05
Aufsatz (Konferenz)
Englisch
Map Reconstruction in the Indoor Environment for the Purpose of Autonomous Vehicle using Laser Radar
British Library Conference Proceedings | 2001
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