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, 2000Accepted:May 22, 2001Published:August 20, 2001
Keywords:position measurement, laser fan beam scanner, rough terrain, autonomous vehicle
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:N. Komatsu and T. 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.Data files:
Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.