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Improvement in Measurement Area of Three-Dimensional LiDAR Using Mirrors Mounted on Mobile Robots

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Field and Service Robotics

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 16))

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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 the collection of the surface information of stairs during stair climbing, which was typically difficult to gather.

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Acknowledgements

Mitsubishi Heavy Industries supported this work.

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Authors and Affiliations

  1. Tohoku University, 468-1, Aza-Aoba Aramaki, Aoba-ku, Sendai, Japan

    Kazuki Matsubara

  2. The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Keiji Nagatani

Authors
  1. Kazuki Matsubara
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  2. Keiji Nagatani
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Corresponding author

Correspondence to Kazuki Matsubara .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Keio University, Yokohama, Kanagawa, Japan

    Genya Ishigami

  2. Department of Aerospace Engineering, Tohoku University, Sendai, Miyagi, Japan

    Kazuya Yoshida

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Matsubara, K., Nagatani, K. (2021). Improvement in Measurement Area of Three-Dimensional LiDAR Using Mirrors Mounted on Mobile Robots. In: Ishigami, G., Yoshida, K. (eds) Field and Service Robotics. Springer Proceedings in Advanced Robotics, vol 16. Springer, Singapore. https://doi.org/10.1007/978-981-15-9460-1_7

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