画像特徴点を利用したマップマッチングによる自己位置推定

概要

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This paper presents a self-localization system using image feature points. Using image feature points in a self-localization system has its limitations in terms of processing time and angle variation. In order for the system to use image feature points, it needs to solve both the angle variation and processing time problems. The image feature points store three-dimensional information by using a stereo camera unit, which is constructed from a web camera. The web camera was used to reduce cost and improve general versatility, and a particle filter was used for improving the performance of the self-localization system. The system was constructed in two steps. First, a map was constructed using the image feature points. Second, a robot run by autonomous locomotion estimated its self-position using this map. The experiment was performed in environments both identical and not identical to the map environment. In the final result, the robot arrived at the goal, regardless of the environment condition.