Autonomous navigation of mobile robot based on teaching and playback using trinocular vision

Akihisa Ohya, Yukio Miyazaki, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

The purpose of this study is to realize autonomous navigation of a mobile robot in an indoor environment by teaching and playback method, without making any environmental map in advance. The strategy of navigation in this study is that the robot runs based on its odometry information and corrects its position using landmark information obtained from stereo vision sensor. We use a trinocular vision system to solve easily the stereo matching problem and choose vertical lines in the environment as landmarks because of their easiness to detect and sufficient existence in the environment. In this paper, the method of teaching and playback is described and some experimental results are also shown.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages398-403
Number of pages6
Volume3
Publication statusPublished - 2001
Externally publishedYes
Event27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO
Duration: 2001 Nov 292001 Dec 2

Other

Other27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
CityDenver, CO
Period01/11/2901/12/2

Fingerprint

Mobile robots
Teaching
Navigation
Stereo vision
Robots
Sensors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Ohya, A., Miyazaki, Y., & Yuta, S. (2001). Autonomous navigation of mobile robot based on teaching and playback using trinocular vision. In IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 398-403)

Autonomous navigation of mobile robot based on teaching and playback using trinocular vision. / Ohya, Akihisa; Miyazaki, Yukio; Yuta, Shinichi.

IECON Proceedings (Industrial Electronics Conference). Vol. 3 2001. p. 398-403.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ohya, A, Miyazaki, Y & Yuta, S 2001, Autonomous navigation of mobile robot based on teaching and playback using trinocular vision. in IECON Proceedings (Industrial Electronics Conference). vol. 3, pp. 398-403, 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001, Denver, CO, 01/11/29.
Ohya A, Miyazaki Y, Yuta S. Autonomous navigation of mobile robot based on teaching and playback using trinocular vision. In IECON Proceedings (Industrial Electronics Conference). Vol. 3. 2001. p. 398-403
Ohya, Akihisa ; Miyazaki, Yukio ; Yuta, Shinichi. / Autonomous navigation of mobile robot based on teaching and playback using trinocular vision. IECON Proceedings (Industrial Electronics Conference). Vol. 3 2001. pp. 398-403
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