ENVIRONMENT OBSERVATION BY STRUCTURE FROM MOTION WITH AN OMNI-DIRECTIONAL CAMERA(International Workshop on Advanced Image Technology 2006)
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概要
- 論文の詳細を見る
Measurement of a surrounding environment structure is important for mobile robots to make autonomous locomotion. In this paper, we propose a method for three-dimensional measurement of the environment using an omni-directional camera installed on a mobile robot. The method is based on structure from motion under the assumption that the environment is static. Along with the image sequence, it tracks feature points to get corresponding points for stereo matching. Using stereo pair images taken at selected observation points, the method estimates the relative relations of camera positions and orientations. With these relations and image coordinates of the feature points, three-dimensional coordinates of object points are calculated by triangulation. Integration of the individual measurement data realized by scale matching produces a whole map of the environment. Experimental results show the validity of the method.
- 社団法人電子情報通信学会の論文
- 2006-01-02
著者
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Yamashita Atsushi
Department of Pathology, Faculty of Medicine, University of Miyazaki
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Harada Tomoaki
Department Of Mechanical Engineering Shizuoka University
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Harada Tomoaki
Department Of Electrical Engineering Nagaoka University Of Technology
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Yamashita A
Hiroshima Univ. Hiroshima Jpn
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Yamashita Atsushi
Department Of Mechanical Engineering Shizuoka University
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Yamashita Atsushi
Department Of Electrical Engineering Faculty Of Engineering Kyoto University:(present Address) Nec C
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Yamashita Atsushi
Department Of Fixed Prosthodontics Okayama University Dental School
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Kaneko T
Department Of Mechanical Engineering Shizuoka University
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KANEKO Toru
Department of Mechanical Engineering, Shizuoka University
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Yamashita A
Department Of Mechanical Engineering Shizuoka University
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Yamashita A
Tohoku Univ. Sendai Jpn
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Kaneko Toru
Department Of Mechanical Engineering Shizuoka University
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Yamashita Atsushi
Department Of Metallurgy Graduate School Of Engineering Tohoku University
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Yamashita Atsushi
Department Of Agricultural Chemistry Tottori University
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KANEKO Toru
Department of Gastroenterology, Internal Medicine, Kitasato University East Hospital
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