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JRM Vol.13 No.4 pp. 352-356
doi: 10.20965/jrm.2001.p0352
(2001)

Paper:

3-D Position Measurement System for Autonomous vehicles Using Laser Fan Beam Scanners

Nobuo Komatsu* and Toshihiro Tsumura**

*Faculty of Science and Technology, Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Fukuroi, Shizuoka 437-8555, Japan

**Faculty of Information Science, Osaka Institute of Technology, 1-79-1 Kitayama, Hirakata-shi, Osaka 573-0196, Japan

Received:
December 29, 2000
Accepted:
May 22, 2001
Published:
August 20, 2001
Keywords:
position measurement, laser fan beam scanner, rough terrain, autonomous vehicle
Abstract

A new measurement system of 3-D position and attitude for autonomous vehicles is proposed in this paper. The measurement system consists of two laser scanners installed on the vehicle and corner cubes as reference points. Each laser scanner rotates a laser fan beam to detect the retroreflections from corner cubes and measures the azimuth angles of the beam. This paper presents the principle of measurement and results of simulation and experiment using an experimental measurement system.

Cite this article as:
Nobuo Komatsu and Toshihiro Tsumura, “3-D Position Measurement System for Autonomous vehicles Using Laser Fan Beam Scanners,” J. Robot. Mechatron., Vol.13, No.4, pp. 352-356, 2001.
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