人間監視下の単眼視ロボット群による環境認識システム(機械力学,計測,自動制御)

概要

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rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf: http://ci.nii.ac.jp/naid/110002379071/In this paper, we propose an environment recognition method for operation of multiple mobile robots. Until now, we have been developing a system for multiple mobile robot operation by a single human user. In order that the user operates multiple robots appropriately, he/she must know information of an environment around the robots. Hence we build a virtual environment and show it to the user. To build the virtual environment, we must solve two problems ; one is an object recognition problem and the other is a robot-positioning problem. Concerning the former issue, the two robots that equip a monocular camera on each acquire a 3-dimensional position of a point in an environment with a stereo vision method. As for the latter issue, we set markers on the robots by which the robots can measure their relative positions. In each phase mentioned above, the human user gives commands to the robots appropriately. Solving the above problems, we can make a virtual environment in the computer. The virtual environment displays remote site information to the user. We verified effectiveness of the proposed method by experiments.
一般社団法人日本機械学会の論文
2003-07-25