NDLI: Trials of 3-D map construction using the tele-operated tracked vehicle kenaf at disaster city

Content Provider	IEEE Xplore Digital Library
Author	Ohno, K. Tadokoro, S. Nagatani, K. Koyanagi, E. Yoshida, T.
Copyright Year	2010
Description	Author affiliation: Postal code 980-8579, Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai Japan (Ohno, K.; Tadokoro, S.; Nagatani, K.) \|\| Chiba Institute of Technology, Japan (Koyanagi, E.; Yoshida, T.)
Abstract	This paper provides valuable information about 3-D map construction using a tracked vehicle at Disaster City. Disaster City is a training facility for the Federal Emergency Management Agency (FEMA) in the United States. FEMA staff used our rescue robot Kenaf to conduct simulated emergency testing. Kenaf is a tele-operated tracked vehicle that has high mobility suitable for use in outside terrains and inside buildings. We equipped Kenaf with a 3-D laser scanner that can measure dense and wide angle 3-D shapes. We collected about 50 3-D mapping data sets during the tests. A part of these data sets can be accessed at our website. In this paper, we explain the Kenaf's tele-operation system, the 3-D mapping system, and the comments about the usability of the 3-D mapping from FEMA staff. In addition, we discuss about the limit of our mapping method on the basis of the trials at Disaster City. This information will be helpful for researchers in the robotics to improve their method of 3-D map construction and their tracked vehicles.
Starting Page	2864
Ending Page	2870
File Size	2218561
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509722
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Cities and towns Robots Management training Control systems Disaster management Testing Shape measurement Robotics and automation USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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