自己移動量を応用した教示経路外における移動ロボットの位置・方向の推定

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/02/01

タイトル(英語): Position and Rotation Estimation for Mobile Robots in Outside of Recording Path Using Ego-motion

著者名: 萩原　良信（創価大学大学院工学研究科），庄司　達矢（創価大学大学院工学研究科），今村　弘樹（創価大学大学院工学研究科）

著者名(英語): Yoshinobu Hagiwara (Graduate School of Engineering, Soka University), Tatsuya Shoji (Graduate School of Engineering, Soka University), Hiroki Imamura (Graduate School of Engineering, Soka University)

キーワード: ビューベーストナビゲーション，ロボット，自己移動量，ロボットビジョン，ナビゲーション，経路計画　　view based navigation，robot，ego motion，robot vision，navigation，path planning

要約(英語): In this research, position and rotation estimation for mobile robots in outside of a recording path is realized by applying ego-motion to view-based navigation. The ego-motion is calculated from differences in 3D-positions of SURF feature-points between recording and current images obtained by a Kinect sensor. In conventional view-based navigations, it is difficult to plan another path when humans and objects are located on the recording path. By using our proposed estimation, it is possible to realize flexible path planning in actual environments which include humans and objects. From experimental results performed in actual indoor environments, we evaluated mesurement accuracy for position and rotation estimated by our method, and confirmed the possibility of our method for actual environments including humans and objects.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.2 （2013） 特集：省電力時代の電子回路技術

本誌掲載ページ: 356-364 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/2/133_356/_article/-char/ja/