The DOI matches its Crossref record; 13 of the 17 references it cites were found in a registry or an index.
Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping
Abstract
Three-dimensional perception is a key technology for many robotics applications, including obstacle detection, mapping, and localization. There exist a number of sensors and techniques for acquiring 3-D data, many of which have particular utility for various robotic tasks. We introduce a new design for a 3-D sensor system, constructed from a 2-D range scanner coupled with a passive linkage mechanism, such as a spring. By mounting the other end of the passive linkage mechanism to a moving body, disturbances resulting from accelerations and vibrations of the body propel the 2-D scanner in an irregular fashion, thereby extending the device's field of view outside of its standard scanning plane. The proposed 3-D sensor system is advantageous due to its mechanical simplicity, mobility, low weight, and relatively low cost. We analyze a particular implementation of the proposed device, which we call Zebedee, consisting of a 2-D time-of-flight laser range scanner rigidly coupled to an inertial measurement unit and mounted on a spring. The unique configuration of the sensor system motivates unconventional and specialized algorithms to be developed for data processing. As an example application, we describe a novel 3-D simultaneous localization and mapping solution in which Zebedee is mounted on a moving platform. Using a motion capture system, we have verified the positional accuracy of the sensor trajectory. The results demonstrate that the six-degree-of-freedom trajectory of a passive spring-mounted range sensor can be accurately estimated from laser range data and industrial-grade inertial measurements in real time and that a quality 3-D point cloud map can be generated concurrently using the same data.
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“Bosse et al. [21] extended the continuous 3D scan-matching formulation from [19] to a large-scale SLAM application.”
From Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age (2016) · cites this paper as [21]
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CHOMP: Gradient optimization techniques for efficient motion planning
Ratliff, N., Zucker, M., Bagnell, J. A., & Srinivasa, S. S. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152817 · Cited by 1,052
Juang, J.-N. (1994) · Medical Entomology and Zoology · Cited by 1,046
RHex: A Biologically Inspired Hexapod Runner
Altendorfer, R., Moore, N., Komsuoglu, H., Buehler, M., Brown, H. B., McMordie, D., Saranlı, U., Full, R. J., & Koditschek, D. E. (2001) · Autonomous Robots · doi:10.1023/a:1012426720699 · Cited by 412
Continuous 3D scan-matching with a spinning 2D laser
Bosse, M., & Zlot, R. (2009) · 2009 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2009.5152851 · Cited by 289
Self-citationA robust approach to high‐speed navigation for unrehearsed desert terrain
Urmson, C., Ragusa, C., Ray, D., Anhalt, J., Bartz, D., Galatali, T., Gutierrez, A., Johnston, J., Harbaugh, S., Kato, H. “., et al. (2006) · Journal of Field Robotics · doi:10.1002/rob.20126 · Cited by 145
A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain
Urmson, C., Anhalt, J., Bartz, D., Clark, M., Galatali, T., Gutierrez, A., Harbaugh, S., Johnston, J., Kato, H. “., Koon, P., et al. (2007) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-540-73429-1_2 · Cited by 139
Characterization of the compact Hokuyo URG-04LX 2D laser range scanner
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Error modeling and calibration of exteroceptive sensors for accurate mapping applications
Underwood, J., Hill, A. J., Peynot, T., & Scheding, S. (2009) · Journal of Field Robotics · doi:10.1002/rob.20315 · Cited by 65
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TICSync: Knowing when things happened
Harrison, A., & Newman, P. M. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5980112 · Cited by 38
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Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2624754 · Cited by 3,596
Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I. D., & Leonard, J. J. (2016) · Zurich Open Repository and Archive (University of Zurich) · doi:10.5167/uzh-138892 · Cited by 3,094
LOAM: Lidar Odometry and Mapping in Real-time
Zhang, J., & Singh, S. (2014) · Robotics: Science and Systems X · doi:10.15607/rss.2014.x.007 · Cited by 3,303
Low-drift and real-time lidar odometry and mapping
Zhang, J., & Singh, S. (2017) · Auton. Robots · doi:10.1007/s10514-016-9548-2 · Cited by 778
Visual-lidar odometry and mapping: low-drift, robust, and fast
Zhang, J., & Singh, S. (2015) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2015.7139486 · Cited by 764
Metadata
- Authors
- Bosse, M., Zlot, R., & Flick, P.
- Affiliations
- Commonwealth Scientific and Industrial Research Organisation (AU)
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-10
- Volume
- 28
- Issue
- 5
- Pages
- 1104-1119
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2054804188
- Cited by
- 399
- References
- 17
- Citations by year
- 2026: 5 · 2025: 14 · 2024: 18 · 2023: 21 · 2022: 31 · 2021: 39 · 2020: 34 · 2019: 43 · 2018: 41 · 2017: 32 · 2016: 39 · 2015: 40 · 2014: 26 · 2013: 16
- FWCI
- 44.13
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- Funders
- Commonwealth Scientific and Industrial Research Organisation
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotics and Sensor-Based Localization
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Keywords
- inertial measurement unit, mobile mapping, SLAM, 3D point clouds, low-cost sensor design
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