Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator

Kazuki Matsubara; Keiji Nagatani; Yasuhisa Hirata

doi:10.1109/LRA.2020.3013942

Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator

Kazuki Matsubara, Keiji Nagatani, Yasuhisa Hirata

ENG - Robotics

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

Light Detection and Ranging (LiDAR) is widely employed in mobile robots to acquire environmental information. However, it has a limited laser irradiation direction and cannot measure the backside of an object. In this study, a method that expands the LiDAR measurement range to various directions using a mirror installed on the manipulator mounted on mobile robots is developed. As mirrors can easily be mounted on robots, this method is expected to have a wide range of applications. This letter also proposes a method for determining the mirror position and attitude to expand the measurement area to obtain target data. In addition, we conducted an accuracy evaluation test of the reflection acquisition point. Using the proposed method, we demonstrate the measurement of the shape of descending staircase as an example of a potential application.

Original language	English
Article number	9157947
Pages (from-to)	6350-6356
Number of pages	7
Journal	IEEE Robotics and Automation Letters
Volume	5
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2020.3013942
Publication status	Published - 2020 Oct

Keywords

Field robots
range sensing

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10.1109/LRA.2020.3013942

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title = "Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator",

abstract = "Light Detection and Ranging (LiDAR) is widely employed in mobile robots to acquire environmental information. However, it has a limited laser irradiation direction and cannot measure the backside of an object. In this study, a method that expands the LiDAR measurement range to various directions using a mirror installed on the manipulator mounted on mobile robots is developed. As mirrors can easily be mounted on robots, this method is expected to have a wide range of applications. This letter also proposes a method for determining the mirror position and attitude to expand the measurement area to obtain target data. In addition, we conducted an accuracy evaluation test of the reflection acquisition point. Using the proposed method, we demonstrate the measurement of the shape of descending staircase as an example of a potential application.",

keywords = "Field robots, range sensing",

author = "Kazuki Matsubara and Keiji Nagatani and Yasuhisa Hirata",

note = "Funding Information: Manuscript received February 24, 2020; accepted July 12, 2020. Date of publication August 4, 2020; date of current version August 12, 2020. This work was supported by Mitsubishi Heavy Industries, LTD. This letter was recommended for publication by Associate Editor I. Sa and Editor J. Roberts upon evaluation of the reviewers{\textquoteright} comments. (Corresponding author: Kazuki Matsubara.) Kazuki Matsubara is with the School of Engineering, Tohoku University, Sendai 980-8579, Japan (e-mail: kazuki_matsubara@mhi.co.jp). Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2020",

month = oct,

doi = "10.1109/LRA.2020.3013942",

language = "English",

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AU - Matsubara, Kazuki

AU - Nagatani, Keiji

AU - Hirata, Yasuhisa

N1 - Funding Information: Manuscript received February 24, 2020; accepted July 12, 2020. Date of publication August 4, 2020; date of current version August 12, 2020. This work was supported by Mitsubishi Heavy Industries, LTD. This letter was recommended for publication by Associate Editor I. Sa and Editor J. Roberts upon evaluation of the reviewers’ comments. (Corresponding author: Kazuki Matsubara.) Kazuki Matsubara is with the School of Engineering, Tohoku University, Sendai 980-8579, Japan (e-mail: kazuki_matsubara@mhi.co.jp). Publisher Copyright: © 2016 IEEE.

PY - 2020/10

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N2 - Light Detection and Ranging (LiDAR) is widely employed in mobile robots to acquire environmental information. However, it has a limited laser irradiation direction and cannot measure the backside of an object. In this study, a method that expands the LiDAR measurement range to various directions using a mirror installed on the manipulator mounted on mobile robots is developed. As mirrors can easily be mounted on robots, this method is expected to have a wide range of applications. This letter also proposes a method for determining the mirror position and attitude to expand the measurement area to obtain target data. In addition, we conducted an accuracy evaluation test of the reflection acquisition point. Using the proposed method, we demonstrate the measurement of the shape of descending staircase as an example of a potential application.

AB - Light Detection and Ranging (LiDAR) is widely employed in mobile robots to acquire environmental information. However, it has a limited laser irradiation direction and cannot measure the backside of an object. In this study, a method that expands the LiDAR measurement range to various directions using a mirror installed on the manipulator mounted on mobile robots is developed. As mirrors can easily be mounted on robots, this method is expected to have a wide range of applications. This letter also proposes a method for determining the mirror position and attitude to expand the measurement area to obtain target data. In addition, we conducted an accuracy evaluation test of the reflection acquisition point. Using the proposed method, we demonstrate the measurement of the shape of descending staircase as an example of a potential application.

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KW - range sensing

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Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator

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