1A2-E12 天井目地模様などを用いた移動ロボットの屋内自己位置推定

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This paper presents an approach for vehicle indoor localization using odometry and an IEEE 1394 camera facing upwards. The motivation of this work is the automation of autonomous mobile robots working in a production plant where artificial landmarks have to be reduced as possible. An extended Kalman filter is used for vehicle localization where odometry is corrected using the ceiling characteristics. The camera is used to extract the ceiling orientation which is used to correct the accumulated error in orientation. The contributions of this work are twofold. To report the use of the ceiling as a landmark and to report the effect of bearing only correction for vehicle localization. Experiments were performed in corridors of buildings 3L and 3M of the University of Tsukuba where vehicle localization was achieved with a precision within about 30 cm.