2P1-F20 照明変化に頑健な天井ビューシーケンスナビゲーション

概要

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View-based navigation utilizing ceiling images has been proposed in order to avoid the difficulties on view changes by obstacles and pedestrians. However, the prior methods are affected by illumination changes of the whole day. In this paper, we propose to solve this problem by employing the robust matching method, which resulting in expansion of the robot's movable region. We quantitatively evaluated the matching accuracy of the proposed method and actually performed robot navigation in our office environment.
一般社団法人日本機械学会の論文
2009-05-25