Robust Alternative Estimation of an Environment Map and Robot Egomotion Using an Omnidirectional Vision Sensor.
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- Tsuji Yasuhiko
- 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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- 全方位視覚センサを用いたロバストな環境マップ生成と自己位置推定
- ゼンホウイ シカク センサ オ モチイタ ロバスト ナ カンキョウ マップ セイセイ ト ジコ イチ スイテイ
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Abstract
Generation of a stationary environmental map is one of important tasks for robot navigation. Under the assumption of a known motion of a robot, environmental maps of a real scene are successfully generated by monitoring azimuth changes in an image. However, it is difficult to observe the exact motion parameters of the robot because of measurement error of the encoder of the robot. Therefore, observational errors in the generated environmental map accumulated in long movements of the robot. Furthermore, the exact stationary map generation is difficult because of ambiguity of correspondence caused by occlusion.<br>In this paper, we propose a method to generate a stationary environmental map and estimate the egomotion of a robot, recursively, by using an omnidirectional image sensor. And the method can find mismatching and bring to right correspondence 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 19 (1), 59-67, 2001
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204727212416
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- NII Article ID
- 10007545478
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 5634124
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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