Laser odometry taking account of the tilt on the laser sensor

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

1 Citation (Scopus)

Abstract

Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479978625
DOIs
Publication statusPublished - Sep 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period5/31/156/3/15

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Saito, R., Watanabe, K., & Nagai, I. (2015). Laser odometry taking account of the tilt on the laser sensor. In 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244648] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244648