Environmental Map Generation for a Mobile Robot under Unknown Translational Robot Motions.

• Syouya Kouichi

  Graduate School of Engineering Science, Osaka University

• Yagi Yasushi

  Graduate School of Engineering Science, Osaka University

• Yachida Masahiko

  Graduate School of Engineering Science, Osaka University

Bibliographic Information

Other Title

• 未知並進運動する移動ロボットにおける静止環境マップ生成
• ミチ ヘイシン ウンドウスル イドウ ロボット ニ オケル セイシ カンキョウ

Abstract

We have designed several omnidirectional image sensors such as COPIS (COnic Projection Image Sensor) with a conical mirror and HyperOmni Vision with a hyperboloidal mirror, for navigating the robot in an environment. Described here is a method for generating an environmental map by using the Omnidirectional Image Sensor. Based on the assumption of translational motions of the robot, the proposed method can generate an environmental map and estimate egomotion of the robot. In particular, the method is suitable for map generation during long robot movement because deadlocking error of the robot does not accumulate. The method has been evaluated on a prototype of HyperOmni Vision in actual environment.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 16 (5), 690-697, 1998

  The Robotics Society of Japan

Keywords

• Environmental Map
• Omnidirectional Image Sensor
• Azimuth Angle
• Mobile Robot

Details

• CRID: 1390282679703979264
• NII Article ID: 10002864145
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.16.690
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 4522829
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4522829
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed