3D Environment Mapping and Pothole Detection for a Mobile Robot

Jau Woei Perng; Chia Hui Tai; Chia Hao Kuo; Li Shan Ma

doi:10.4028/www.scientific.net/AMM.431.287

Paper Titles

Modeling and Control System Simulation for 7-Link Biped Robot
p.262

Path Planning for Mobile Robot Based on Autoregressive Model
p.269

The Research of the ESP Hardware in the Loop Simulation Bench Based on LabVIEW PXI
p.275

Fuzzy Logic Control of Knee-FES-Ergometer for Stroke Patients Knee Swinging Exercise
p.282

3D Environment Mapping and Pothole Detection for a Mobile Robot
p.287

A Knowledge-Based Approach of Automation Design of Aircraft Standard Components
p.293

Active Control by Piezoelectric Material Applied to Dynamic Analysis for Suppression of Panel with Uncertain Parameters
p.301

Fabrication of a Carbon Nanotube Gas Sensor Microelectrodes and its Application for Ammonia Detection
p.306

Distortion Correction of a Quick Response Code Image
p.312

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 4313D Environment Mapping and Pothole Detection for a...

3D Environment Mapping and Pothole Detection for a Mobile Robot

Abstract:

This paper proposes a 3D environment mapping and pothole detection system by using a laser range finder for a mobile robot. The robot also equips two rotary encoders and an inertial measurement unit to deal with dead reckoning (DR). Through the coordinate transform method from 2D to 3D, each point in 3D coordinate could be calculated. This method is called mobile mapping system (MMS). In addition, the result for road damage is often caused by potholes. Therefore, the pothole detection is considered here by using a laser range finder and a camera. A human-machine interface is designed to record the data on the road including the location and environment. The experiment has been tested on the university road.

You might also be interested in these eBooks

Mechanical Engineering, Industrial Materials and Industrial Electronics

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 431)

Pages:

287-292

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.431.287

Citation:

Cite this paper

Online since:

October 2013

Authors:

Jau Woei Perng*, Chia Hui Tai, Chia Hao Kuo, Li Shan Ma

Keywords:

3D Mapping, Mobile Robot, Pothole Detection, Road Condition

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] A. Kukko, A. Jaakkola, M. Lehtomäki, H. Kaartinen, Y. Chen, in: Urban Remote Sensing Joint Event (2009).

Google Scholar

[2] C. Tu, in: Dissecting JDK 1. 6, Electronic Industry Press (2008).

Google Scholar

[3] A. Mednis., G. Strazdins, R. K. Zviedris, G. Selavo, in: International Conference on Distributed Computing in Sensor Systems and Workshops (2011).

DOI: 10.1109/dcoss.2011.5982206

Google Scholar

[4] J. A. Richards: Remote Sensing Digital Image Analysis, " Springer-Verlag, Berlin, (1986).

Google Scholar

[5] G. P. Roston, E. P. Krotkov, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, (1992).

Google Scholar

[6] H. Lee, N. Baek, in IEEE International Symposium on Consumer Electronics, (2009).

Google Scholar

[7] SICK, Quick Manual for LMS Communication Setup, (2002).

Google Scholar

[8] M. Sheehan, A. Harrison, P. Newman, The International Journal of Robotics Research, Vol. 31, (2012) pp.675-687.

Google Scholar

[9] Google Android, Exif Interface, Android DevelopersReference.

Google Scholar