Indoor navigation based on an inaccurate map using object recognition

Masahiro Tomono, Shin'ichi Yuta

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

This paper presents a navigation system based on an inaccurate map. The map we consider here is a hybrid of topological map and geometrical map so that it can be built easily and permit changes in objects locations. A localization scheme and an object recognition technique are introduced in order to keep the robot pose consistent on such an inaccurate map. To cope with the problem that a path may also be inaccurate on an inaccurate map, the robot corrects the path based on its pose estimated by the localization method while tracking the path. An experiment shows that the robot successfully navigated in an indoor environment, recognizing several kinds of objects.

本文言語English
ページ619-624
ページ数6
出版ステータスPublished - 2002 1 1
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
継続期間: 2002 9 302002 10 4

Conference

Conference2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域Switzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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