Environmental Map Generation and Egomotion Estimation in a Dynamic Environment for an Omnidirectional Image Sensor.
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- Syouya Kouichi
- Graduate School of Engineering Science, Osaka University
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- Yagi Yasushi
- Graduate School of Engineering Science, Osaka University
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- Yachida Masahiko
- Graduate School of Engineering Science, Osaka University
Bibliographic Information
- Other Title
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- 全方位視覚センサによる動環境での静止環境地図および自己位置の同時推定
- ゼンホウイ シカク センサ ニ ヨル ドウ カンキョウ デ ノ セイシ カンキョウ チズ オヨビ ジコ イチ ノ ドウジ スイテイ
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Abstract
Generation of an environmental map is one of important tasks for robot navigation. We have proposed a method to generate a static environmental map and estimate the egomotion of a robot by using an omnidirectional image sensor, based on the assumption of unknown translational motions of the robot. However, since both robot and objects move in the environment, the map generation and the robot egomotion estimation by using a single camera are difficult because of ambiguity of correspondence caused by occlusion. In this paper, we improve our previous method for treating applicable to a dynamic environment. The method can detect a moving object and find occlusion and mismatching by evaluating estimation error of each objects location.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 17 (3), 432-438, 1999
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679702767744
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- NII Article ID
- 10002866006
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4694053
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed