Vision Based Navigation System for Autonomous Mobile Robot Locomotive Experiments Based on Variable Template Matching

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概要

• 論文の詳細を見る

• We have previously developed a navigation system for autonomous mobile robots. It can find landmarks on the ceiling to move and work. However it is impossible to recognize landmark in case that the size of landmark is different from the size of template. In such cases, the robot cannot continue to work. Therefor we proposed Variable Template Matching (VTM) which makes it possible to recognize landmarks of different sizes. We realize VTM by using the optimization method that is called Evolution Strategy (ES). The robot can recognize the landmark faster by binary density projection to infer landmark parameters. Minus Fuzzy Template is useful for the robot to avoid misidentifying.

• 一般社団法人日本機械学会の論文
• 2000-06-15

著者

• TANAKA Yoshio

  Osaka Prefecture University

• ARAI Fumihito

  Department of Micro System Engineering, Nagoya University

• FUKUDA TOSHIO

  Center for Cooperative Research in Advnced Science and Technology, Nagoya University

• Fukuda Toshio

  Center For Cooperative Research In Advnced Science And Technology Nagoya University

• Fukuda T

  Center Of Cooperative Research In Adaanced Science And Technology Nagoya University

• Abe Yasunori

  Research And Development Center Shinryo Corporation

• Arai F

  Nagoya Univ.

• Arai Fumihito

  Department Of Bioengineering And Robotics Tohoku University

• SHIKANO Masaru

  Department of Micro System Engineering, Nagoya University

• TANAKA Yoshio

  Research and Development Center, Shinryo Corporation

• Shikano Masaru

  Department Of Micro System Engineering Nagoya University

• Tanaka Y

  Osaka Prefecture University

• Fukuda Toshio

  Center For Cooperative Research In Advanced Science & Technology Nagoya University

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