2A1-M10 単眼カメラを用いた走行路面の直線的模様検出による移動ロボットの位置姿勢推定(移動ロボットの自己位置推定と地図構築)

概要

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This paper reports the fact that straight line patterns of tiled pavement are useful for localization of a mobile robot. The patterns are captured by a tilted camera which watches tiled pavement in front. View angle transformation is applied to the image of the tiled patterns in order to obtain right angles of the tile vertices. Applying Sobel edge detection filter to the transformed images yields edge orientations of the tiles. A peak of the edge orientation in the histogram of the orientations together with map of the absolute orientation of the tile edges tells heading yaw angle of the robot. This heading angle is incorporated into the odometry to correct the cumulative error by means of EKF. This process is continually iterated.
一般社団法人日本機械学会の論文
2011-05-26