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Sensors 2014, 14(4), 7524-7540; doi:10.3390/s140407524

Floor Sensing System Using Laser Reflectivity for Localizing Everyday Objects and Robot

1
Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka-shi, Fukuoka 819-0395, Japan
2
Kumamoto National College of Technology, Koshi-shi, Kumamoto 861-1102, Japan
3
Faculty of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka-shi, Fukuoka 819-0395, Japan
*
Author to whom correspondence should be addressed.
Received: 31 December 2013 / Revised: 14 April 2014 / Accepted: 15 April 2014 / Published: 24 April 2014
(This article belongs to the Section Physical Sensors)
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Abstract

This paper describes a new method of measuring the position of everyday objects and a robot on the floor using distance and reflectance acquired by laser range finder (LRF). The information obtained by this method is important for a service robot working in a human daily life environment. Our method uses only one LRF together with a mirror installed on the wall. Moreover, since the area of sensing is limited to a LRF scanning plane parallel to the floor and just a few centimeters above the floor, the scanning covers the whole room with minimal invasion of privacy of a resident, and occlusion problem is mitigated by using mirror. We use the reflection intensity and position information obtained from the target surface. Although it is not possible to identify all objects by additionally using reflection values, it would be easier to identify unknown objects if we can eliminate easily identifiable objects by reflectance. In addition, we propose a method for measuring the robot’s pose using the tag which has the encoded reflection pattern optically identified by the LRF. Our experimental results validate the effectiveness of the proposed method. View Full-Text
Keywords: laser range finder; position measurement; service robots laser range finder; position measurement; service robots
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Pyo, Y.; Hasegawa, T.; Tsuji, T.; Kurazume, R.; Morooka, K. Floor Sensing System Using Laser Reflectivity for Localizing Everyday Objects and Robot. Sensors 2014, 14, 7524-7540.

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