2P1-F15 シーンの視覚的特徴量に基づく位置判別への照明条件の変化の影響

概要

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In many indoor environments, artificial illumination and sunlight are mixed together and give effect to the illumination conditions when time is changing. Methods for mobile robot localization which use visual features of the surrounding environment are in general sensitive to changes in illumination of the environment. We have previously proposed a self-localization method for autonomous mobile robot where the robot is able to determine its own position in an environment by utilizing the environment visual features. In this paper, we studied the performance of our proposed self-localization method in indoor environments which have windows and doors. Furthermore, we also analyze the effect caused by the changes in illumination conditions to our method.
一般社団法人日本機械学会の論文
2009-05-25