2A1-E03 ステレオ計測におけるカメラ振動と視差誤差との関係に基づいた対象物認識(移動ロボットのための視覚)

概要

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This study aims to obtain exact visual information in irregular ground. We use visual information obtained by stereo measurement. We can approximate disparity error distribution by normal distribution. At first, we examine relationship between parameter of disparity error and parameter of camera vibration. Next, we define existing probability using parameter of disparity error, and we use existing probability for position estimate. Specifically, we obtain visual information of without vibration or near offer in irregular ground through the use of relationship between parameter of camera vibration and parameter of error.
一般社団法人日本機械学会の論文
2008-06-06