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

Akihisa Ohya, Yukio Miyazaki, Shin'ichi Yuta

研究成果: Paper査読

10 被引用数 (Scopus)

抄録

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.

本文言語English
ページ398-403
ページ数6
出版ステータスPublished - 2001 12 1
イベント27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
継続期間: 2001 11 292001 12 2

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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