Indoor navigation based on an inaccurate map using object recognition

Masahiro Tomono, Shin'ichi Yuta

研究成果: Paper

2 引用 (Scopus)

抜粋

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.

元の言語English
ページ619-624
ページ数6
出版物ステータス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
Switzerland
Lausanne
期間02/9/3002/10/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

フィンガープリント Indoor navigation based on an inaccurate map using object recognition' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Tomono, M., & Yuta, S. (2002). Indoor navigation based on an inaccurate map using object recognition. 619-624. 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.