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
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.
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