This paper proposes a 3D environment mapping and pothole detection system by using a laser range finder for a mobile robot. The robot also equips two rotary encoders and an inertial measurement unit to deal with dead reckoning (DR). Through the coordinate transform method from 2D to 3D, each point in 3D coordinate could be calculated. This method is called mobile mapping system (MMS). In addition, the result for road damage is often caused by potholes. Therefore, the pothole detection is considered here by using a laser range finder and a camera. A human-machine interface is designed to record the data on the road including the location and environment. The experiment has been tested on the university road.
3D Environment Mapping and Pothole Detection for a Mobile Robot
Applied Mechanics and Materials ; 431 ; 287-292
2013-10-11
6 pages
Article (Journal)
Electronic Resource
English