SLAM-based sensor calibration system for easy construction of intelligent spaces

An intelligent space is constructed with various types of distributed sensors including networked laser range sensors. Geometrical position estimation of distributed sensors under an unified world coordinate system is required for construction of the intelligent space. When many sensors are distributed in wide area, it generally becomes complicated tasks to estimate all sensor positions. In order to solve these problems, we consider a new method based on map information sharing with a SLAM module of a mobile robot. In this study, we propose an intelligent space construction system which automatically performs position estimation of distributed networked laser range sensors fixed in an environment as an intelligent space. This system aims to achieve position estimation of distributed sensors in the intelligent space and improvement of SLAM accuracy by using map sharing with distributed sensors. Some experimental results show that the proposed system can achieve both of them.