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Paper Abstract and Keywords
Presentation 2013-09-03 14:00
[Tutorial Lecture] 3-D Mapping and Recognition for Rescue Robots
Kazunori Ohno (Tohoku Univ.) PRMU2013-49 IBISML2013-29
Abstract (in Japanese) (See Japanese page) 
(in English) Rescue robots allow rescue staffs to safely search disaster area. During the search, the rescue robots record the environment and its rescue activity. 3-D mapping and recognition are key technologies for the rescue robots. The author aims to develop methods of the 3-D mapping and the recognition for the rescue robots. We used tracked vehicles with sub-tracks named Quince, and equipped Quince with a small 3-D laser scanner named HDScanner. 3-D point cloud data are measured by using the HDScanner. 3-D map is constructed by combining the 3-D point cloud data. In addition, the 3-D point cloud data are classified by using geometrical features and the passing rate of laser beams. In this paper, the author shows recognition of mesh object and elimination of measurement error caused by fog.
Keyword (in Japanese) (See Japanese page) 
(in English) Tracked vehicle / 3-D Mapping / point cloud data recognition / machine learning / mesh / fog / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 196, PRMU2013-49, pp. 181-186, Sept. 2013.
Paper # PRMU2013-49 
Date of Issue 2013-08-26 (PRMU, IBISML) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF PRMU2013-49 IBISML2013-29

Conference Information
Committee PRMU IBISML IPSJ-CVIM  
Conference Date 2013-09-02 - 2013-09-03 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
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Paper Information
Registration To PRMU 
Conference Code 2013-09-PRMU-IBISML-CVIM 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) 3-D Mapping and Recognition for Rescue Robots 
Sub Title (in English)  
Keyword(1) Tracked vehicle  
Keyword(2) 3-D Mapping  
Keyword(3) point cloud data recognition  
Keyword(4) machine learning  
Keyword(5) mesh  
Keyword(6) fog  
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Keyword(8)  
1st Author's Name Kazunori Ohno  
1st Author's Affiliation Tohoku University (Tohoku Univ.)
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Speaker Author-1 
Date Time 2013-09-03 14:00:00 
Presentation Time 60 minutes 
Registration for PRMU 
Paper # PRMU2013-49, IBISML2013-29 
Volume (vol) vol.113 
Number (no) no.196(PRMU), no.197(IBISML) 
Page pp.181-186 
#Pages 6 
Date of Issue 2013-08-26 (PRMU, IBISML) 

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