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

Akihisa Ohya, Yukio Miyazaki, Shin'ichi Yuta

Research output: Contribution to conferencePaper

9 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
Pages398-403
Number of pages6
Publication statusPublished - 2001 Dec 1
Event27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
Duration: 2001 Nov 292001 Dec 2

Conference

Conference27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
CountryUnited States
CityDenver, CO
Period01/11/2901/12/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Ohya, A., Miyazaki, Y., & Yuta, S. (2001). Autonomous navigation of mobile robot based on teaching and playback using trinocular vision. 398-403. Paper presented at 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001, Denver, CO, United States.