A Study on Position Measurement System Using Laser Range Finder and its Application for Construction Work
Fumihiro Inoue*1, Takeshi Sasaki*2, Xiangqi Huang*3,
and Hideki Hashimoto*4
*1Technical Research Institute, Obayashi Corporation, 4-640 Shimokiyoto, Kiyose-shi, Tokyo 204-8558, Japan
*2College of Engineering and Design, Shibaura Institute of Technology, Japan
*3Institute of Industrial Science, Tokyo University, Japan
*4Faculty of Science and Engineering, Chuo University, Japan
This paper describes a study of high accuracy and low cost position measurement system using Laser Range Finder (LRF), and its application for construction pile work. Since the LRF is a sensor which can measure distance to surfaces of objects by radiating laser beams from itself and receiving the reflected ones, an obtained data from the LRF are nothing more than the contours of objects. In proposed system, the obtained data from LRF assumed the arc-shaped contours of the bar, the center position was analyzed introducing the least square method and maximum likelihood estimation. The error between the analysis and the measurement corresponds enough to the allowable accurate range. Additionally, improving the angular resolution of the LRF by using a pan unit, the highest accurate center position was able to be acquired. Applying this system to the construction work, the high accurate pile marking and the pile drive positioning were recognized. Since this measurement was achieved by only a worker and the position and direction of the worker was easily found, the high efficient and short term works were surely performed.
and Hideki Hashimoto, “A Study on Position Measurement System Using Laser Range Finder and its Application for Construction Work,” J. Robot. Mechatron., Vol.24, No.1, pp. 226-234, 2012.
-  T. Bock, “Turning Points in Construction,” Proc. of 26 th Int. Symp. on Automation and Robotics in Construction, pp. 3-6, 2009.
-  Y. Hasegawa, “Construction Automation and Robotics in the 21th Century,” Proc. of 23rd Int. Symp. on Automation and Robotics in Construction, pp. 565-567, 2006.
-  H. Tamura, T. Sasaki, H. Hashimoto, and F. Inoue, “Shape Based Position Measurement Method Using Laser Range Finders,” Proc. of Int. Conf. on URAI, pp. 570-574, 2009.
-  J. Ryde and H. Hu, “Fast Circular Landmark Detection for Cooperative Localization and Mapping,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2745-2750, 2005.
-  N. Chernov and C. Lesort, “Least Square Fitting of Circles,” J. of Mathematical Imaging and Vision, Vol.23, pp. 239-251, 2005.
-  K. Kanatani, “Statistical Optimization for Geometric Fitting: Theoretical Accuracy Analysis and High Order Error Analysis,” Int. J. of Computer Vision, Vol.80, No.2, pp. 167-188, 2008.
-  N. Ando, T. Suehiro, K. Kitagaki, T. Kotoku, and W. K. Yoon, “RTMiddleware: Distributed Component Middleware for RT,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, pp. 3555-3560, 2005.
-  T. Sasaki and H. Hashimoto, “Design and Implementation of Distributed Sensor Network for Intelligent Space Based on Robot Technology Components,” Proc. of the 2nd Int. Conf. on Human System Interaction, pp. 400-405, 2009.
-  H. Tamura, T. Sasaki, H. Hashimoto, and F. Inoue, “Circle Fitting Based Position Measurement System Using Laser Range Finder in Construction Fields,” 2010 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 209-214, 2010.
-  F. Inoue, S. Doi, H. Xiangqi, H. Tamura, T. Sasaki, and H. Hashimoto, “A Study on PositionMeasurement System Using Laser Range Finder and Its Application for Construction Work,” Proc. of 5th Int. conf. on Advanced Mechatronics 2010, pp. 361-366, 2010.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2012 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.