移動視覚のための多重情報地図

• 小野口 一則

  株式会社東芝研究開発センター

• 渡辺 睦

  株式会社東芝研究開発センター

• 岡本 恭一

  株式会社東芝研究開発センター

• 久野 義徳

  株式会社東芝研究開発センター

書誌事項

タイトル別名

• Multi-Information Local Map for Visual Navigation.

抄録

In this paper, we present MIL (Multi-Information Local) map which is available for efficient navigation of a mobile robot in a known environment. A MIL map is equipped with procedures for checking a self-location at critical points in the environment, such as corners or intersections. This map also has information about the movement style between each location check point, such as following a wall. A mobile robot can move to the destination efficiently because a robot can estimate its self-location at each location check point by only executing procedures written in a MIL map, and can move between location check points by obeying the movement style written in a MIL map. A MIL map is created interactively from stereo images taken at location check points before autonomous movement.<BR>We have implemented a visual navigation system using a MIL map on a mobile robot. Experimental results have shown the usefulness of a MIL map.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 11 (3), 401-409, 1993

  一般社団法人 日本ロボット学会

キーワード

• Navigation
• Robot vision
• Map
• Image processing
• Stereo

詳細情報

• CRID: 1390282679702283136
• NII論文ID: 10006717139
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.11.401
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可