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History of Robotics Research and Development of Japan2005BusinessAutonomous mobile surveillance system

Junichi TakiguchiMitsubishi Erectric Corporation
Naoyuki KajiwaraMitsubishi Erectric Corporation
Yoshiharu ShimaMitsubishi Erectric Corporation
Rui HirokawaMitsubishi Erectric Corporation
Ryujirou KurosakiMitsubishi Erectric Corporation
Junichi MeguroWaseda Univ.
Kiichirou IshikawaWaseda Univ.
Yoshiharu AmanoWaseda Univ.
Takumi HashizumeWaseda Univ.
An autonomous mobile surveillance system that was usually used in a factory premises with some high-rise buildings, was developed. This system consists of a wireless LAN network, a base station and an autonomous vehicle. The vehicle is equipped with a tightly coupled GPS/DR(Dead Reckoning) navigation system, an 2D Lidar, a CCD camera called slaved camera, and an Omni-Directional Vision (ODV) sensor for surveillance. Tightly coupled GPS/DR realizes performance improvement of the navigation under poor satellite visibility. In addition, the vehicle switches navigation modes according to the vehicle status and surrounding environment by using a 2D Lidar. It has three guidance modes, which are “Normal”, “Road tracking”, and “Crossing recognition”. The integration of three modes enable robustness vehicle navigation. On the other hand, the slaved camera, which is designed to follow the target directed with the mouse on the ODV’s panorama image at the base station, is used to obtain expansion image of ROI (Region-Of-Interest). Furthermore, as every omni-directional image is taken synchronizing with both position and GPS time, they are utilized for crime prevention information. 10th RSJ Technical Innovations Award in 2005.
GPS自律移動監視システム
Mobile surveillance vehicle

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Correspondence papers

J. Takiguchi, N. Kajiwara, Y. Shima, R. Hirokawa, R. Kurosaki, J. Meguro, K. Ishikawa, Y. Amano, and T. Hashizume：GPS自律移動監視システム

Journal of the RSJ, Vol. 24, No. 1, pp. 43-44, 2006 (in Japanese).

Related papers

[1] J. Meguro, J. Takiguchi, R. Kurosaki, T. Hashizume, Development of an Autonomous Mobile Surveillance System Using a Network-based RTK-GPS, IEEE Int. Conf. on Robotics and Automation (ICRA) 2005, 2005.

[2] J. Meguro, R. Hirokawa, J. Takiguchi, T. Hashizume, Autonomous Mobile Surveillance System based on RTK-GPS in Urban Canyons, Journal of Robotics and Mechatoronics, 2005.

[3] R. Hirokawa et al: Design and evaluation of a tightly coupled GPS/INS using low cost MEMS IMU, Proceedings of 2003 International Symposium on GPS/GNSS, pp647-653, 2003.

[4] R. Hirokawa et al.: Threading the Maze -GPS/INS, Landmark Sensing, and Obstacle Avoidance-, GPS World magazine, November 2004, pp.20-26, 2004.

[5] R. Hirokawa et al.: Autonomous Vehicle Navigation with Carrier Phase DGPS and Laser-Scanner Augmentation, ION GNSS 2004, 2004.

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