3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot

Ikuto Jinno, Yoko Sasaki, Hiroshi Mizoguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For future mobility services in dynamic human living environment, this paper proposes a map update framework based on a 3D change detection method using a mobile robot equipped with a Laser Imaging Detection and Ranging (LI- DAR) sensor. The proposed framework updates a given 3D map and refines its information effectively to correct inconsistencies between it and the real environment. It is effective for various mobile robots and environments, and the 3D map is updated just by the mobile robot traveling around and observing its surroundings. The change detection method is used to specify the changed (appeared/disappeared) parts from an existing 3D map by comparing it with LIDAR observations while the robot is moving. The experimental results with an indoor mobile robot and outdoor car application show that the proposed framework can exclude noise and disappeared objects, add static appeared objects, and supplement blanks into the given 3D map.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages330-335
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - 25 Apr 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: 14 Jan 201916 Jan 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period14/01/1916/01/19

Fingerprint

change detection
robots
Mobile robots
blanks
supplements
Railroad cars
Robots
Imaging techniques
Lasers
sensors
Sensors
lasers

Cite this

Jinno, I., Sasaki, Y., & Mizoguchi, H. (2019). 3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 330-335). [8700352] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700352
Jinno, Ikuto ; Sasaki, Yoko ; Mizoguchi, Hiroshi. / 3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot. Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 330-335 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).
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title = "3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot",
abstract = "For future mobility services in dynamic human living environment, this paper proposes a map update framework based on a 3D change detection method using a mobile robot equipped with a Laser Imaging Detection and Ranging (LI- DAR) sensor. The proposed framework updates a given 3D map and refines its information effectively to correct inconsistencies between it and the real environment. It is effective for various mobile robots and environments, and the 3D map is updated just by the mobile robot traveling around and observing its surroundings. The change detection method is used to specify the changed (appeared/disappeared) parts from an existing 3D map by comparing it with LIDAR observations while the robot is moving. The experimental results with an indoor mobile robot and outdoor car application show that the proposed framework can exclude noise and disappeared objects, add static appeared objects, and supplement blanks into the given 3D map.",
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Jinno, I, Sasaki, Y & Mizoguchi, H 2019, 3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot. in Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019., 8700352, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Institute of Electrical and Electronics Engineers Inc., pp. 330-335, 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, 14/01/19. https://doi.org/10.1109/SII.2019.8700352

3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot. / Jinno, Ikuto; Sasaki, Yoko; Mizoguchi, Hiroshi.

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 330-335 8700352 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Jinno I, Sasaki Y, Mizoguchi H. 3D Map Update in Human Environment Using Change Detection from LIDAR Equipped Mobile Robot. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 330-335. 8700352. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). https://doi.org/10.1109/SII.2019.8700352