2A1-E06 屋内環境における移動ロボットによる環境情報要約(移動ロボットのための視覚)

概要

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This paper describes a method of acquiring a geometric structure of the environment and the positions of important objects (called environment information summarization) in indoor environments. For efficient sharing of environment information between a robot and a user, it is effective that the robot extracts and provides only an important part of the information to the user. It is also important to make a plan for the robot to effectively collect necessary information. We use a SLAM method to reconstruct the geometric structure of the environment. We use a color histogram comparison and an edge pattern matching to recognize objects. For efficient object recognition, we predict the data to be obtained by the observation of each object candidate at a nearer position, and determine whether to observe the candidate again or not. The environment information summarization using this observation planning is faster than a simple method which tries to recognize every object candidate.
一般社団法人日本機械学会の論文
2008-06-06