A216 画像特徴と形状特徴を複合したランドマークの自動構築手法(OS11 自律知能無人ビークルの運動と制御3)

• 阿部 大地

  信州大

• 鈴木 智

  信州大

• 飯塚 浩二郎

  信州大

• 河村 隆

  信州大

書誌事項

タイトル別名

• A216 Automatic Construction Method for Image and Shape Feature based Landmark

抄録

In this study, we aim at achieving an autonomous locomotion of the mobile robot in the unknown indoor environment. In priori research, landmark construction based on image and shape features is proposed and the effectiveness of combined landmark is verified by simulation and experiment. We propose a automatic construction method of combined landmark from image and point cloud. To devide attracted scene, we clustering image and shape feature point and calculate each feature value. If image and shape feature value are more than threshold, this method decide that the cluster is landmark. The effectiveness of proposed method is verified by experiment.

収録刊行物

• 「運動と振動の制御」シンポジウム講演論文集

  「運動と振動の制御」シンポジウム講演論文集 2015.14 (0), 273-276, 2015

  一般社団法人 日本機械学会

キーワード

• SLAM
• Image feature
• Shape feature

詳細情報

• CRID: 1390001205885660288
• NII論文ID: 110010050250
• DOI: 10.1299/jsmemovic.2015.14.273
• ISSN: 24243000
• Web Site: https://www.jstage.jst.go.jp/article/jsmemovic/2015.14/0/2015.14_273/_pdf
• 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