In this paper, we propose a ring array of active structured light image-based ranging sensors for a mobile robot. Since the ring array of ranging sensors can obtain omnidirectional distances to surrounding objects, it is useful for building a local distance map. By matching the local omnidirectional distance map with a given global object map, it is also possible to obtain the position and heading angle of a mobile robot in global coordinates. Experiments for omnidirectional distance measurement, matching, and localization were performed to verify the usefulness of the proposed ring array of active ranging sensors. © 2013 Springer Science+Business Media Dordrecht(Outside the USA).
CITATION STYLE
Shin, J., & Yi, S. Y. (2013). Active ranging sensors based on structured light image for mobile robot. In Lecture Notes in Electrical Engineering (Vol. 240 LNEE, pp. 723–729). https://doi.org/10.1007/978-94-007-6738-6_89
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