2A2-F07 複数の平行線パターンを用いた視覚移動ロボットの自己位置推定(移動ロボットのための視覚)

概要

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We propose a new self-localization method for a mobile robot equipped with a fixed-viewpoint active camera by observing multiple parallel lines patterns with the camera. The method utilizes the technique for estimating location and posture of the camera from one parallel lines pattern which was previously developed by our research group. The method switches from a certain parallel lines pattern used for self-localization to another parallel lines pattern while the robot is moving in the environment. After the new parallel lines pattern is selected, the method keeps estimating location and posture of the camera from the parallel lines pattern. Our method can estimate location and posture of the robot and the parallel lines patterns in the world coordinate system fixed to the initial parallel lines pattern by repeating the switch of parallel lines patterns and the self-localization based on the parallel line pattern. Through the experiment of the self-localization of the real mobile robot, we confirmed the validity of the proposed method.
一般社団法人日本機械学会の論文
2007-05-11