精度と実時間性とを考慮した点特徴群の位置・姿勢計測法

概要

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In this paper, we present a method for calculating the relative position and orientation of landmarks from a mobile robot using a camera. The method is based upon a triangular method for plural point features in space. To speed up its calculation time, we apply a formula that has closed form solutions using 3 point correspondences. To reduce the errors of the relative position, we introduce a fusion method using multiple points with optimal weighting matrices derived by considering minimum error variance. We also propose an algorithm for finding a common solution. The proposed method reduces the measurement errors and has the advantages of high speed measurement. To evaluate the proposed method, the error and calculation time are compared to those of several similar methods. The proposed method has the greatest advantage in the real-time measurement of mobile robots.
一般社団法人日本機械学会の論文
1997-05-25