Improvement in measurement area of three-dimensional LiDAR using mirrors mounted on mobile robots

EasyChair Preprint 1319

Abstract

By installing omnidirectional measurement light detection and ranging (LiDAR) on a mobile robot, it is possible to acquire the surrounding environment. However, not all measurement areas of LiDAR can be used because of laser rays blocked by the robot's body. Hence, in this research, the authors aim to expand the measurement area of LiDAR by installing mirrors at the blocked area to improve an ability of acquiring information regarding the front environment. The installation position and mirror angle can be determined from the desired area to be measured and the geometrical condition of the laser rays reflecting on the mirror. Moreover, based on the method, the robot enabled to collection of the surface information of stairs during stair climbing, which was typically difficult to gather.

Keyphrases: LiDAR, Mirror, tracked vehicle

@booklet{EasyChair:1319,
  author    = {Kazuki Matsubara and Keiji Nagatani},
  title     = {Improvement in measurement area of three-dimensional LiDAR using mirrors mounted on mobile robots},
  howpublished = {EasyChair Preprint 1319},
  year      = {EasyChair, 2019}}