Mobile Robot Localization and Mapping by Scan Matching using Laser Reflection Intensity of the SOKUIKI Sensor

摘要

This paper describes a new scan matching method for mobile robot localization and mapping. The proposed method "intensity-ICP" uses laser reflection intensity obtained by a laser range scanner named "SOKUIKI sensor". Compared with conventional scan matching methods which are effective just in geometric featured environments, intensity-ICP is effective in both geometric featured and featureless environments if there are some features like colors or materials. This method can build a map with laser reflection intensity data. The map will be effective to robust localization because it has abundant information; not only geometric data but also laser reflection intensity