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This paper proposes a light-weight sensor plat form that consists of gyro-assisted odometry and a 3D laser scanner for localization of human-scale robots. The gyro assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. Robust and computationally inexpensive localization is implemented on the sensor platform using a particle filter on a 2D grid map generated by proj ecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navi gation experiments were performed at the Tsukuba Challenge 2009, which is an open proving ground for human-scale robots.Our robot successfully navigated the assigned I-km course in a fully autonomous mode multiple times.

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