UMP Institutional Repository

3D Image Construction Using Single LRF Hokuyo URG-04LX

Hendriyawan, Achmad and Mohd Razali, Daud (2014) 3D Image Construction Using Single LRF Hokuyo URG-04LX. In: Colloquium on Robotics, Unmanned Systems And Cybernetics 2014 (CRUSC 2014), 20 Nov 2014 , Universiti Malaysia Pahang. pp. 76-79..

[img]
Preview
PDF
3D Image Construction Using Single LRF Hokuyo URG-04LX.pdf - Published Version

Download (463kB) | Preview

Abstract

Nowadays researchers who focus on robotic vision technology are facing with greater challenges, where the 2D technology has many flaws in robot navigation. Using 3D technology, the robot is able to make a more detailed map navigation making it easier to carry out its mission. 3D image is obtained by using the method of fusion between the Hokuyo URG-04LX with 6-DOF IMU consists of acceleration sensor and gyro sensor. IMU sensor outputs are the angle, speed, and position in 3D. However, only the value of the angle is used in this work. To eliminate noise in the sensors output, two types of filters are used; the gaussian filter used on the output 2D LRF, while the complementary filter is used on the output of the IMU sensor. The proposed systems has successfully generated a valid 3D image according to the indoor testing that has been done.

Item Type: Conference or Workshop Item (Other)
Uncontrolled Keywords: 3D image, Hokuyo URG-04LX, IMU sensor, filter.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mr. Mohd Fakhrurrazi Adnan
Date Deposited: 20 Jan 2016 02:04
Last Modified: 05 Feb 2018 03:55
URI: http://umpir.ump.edu.my/id/eprint/9787
Download Statistic: View Download Statistics

Actions (login required)

View Item View Item