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

Akihisa Ohya, Yukio Miyazaki, Shinichi Yuta

研究成果: Conference contribution

7 引用 (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.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ398-403
ページ数6
3
出版物ステータスPublished - 2001
外部発表Yes
イベント27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO
継続期間: 2001 11 292001 12 2

Other

Other27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
Denver, CO
期間01/11/2901/12/2

Fingerprint

Mobile robots
Teaching
Navigation
Stereo vision
Robots
Sensors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

これを引用

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

研究成果: Conference contribution

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