多移动机器人观测环境地图与全向图像传感器COPIS的集成

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI:10.1109/IROS.1996.571020

Y. Yagi, Shinichi Izuhara, M. Yachida

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引用次数: 8

摘要

提出了一种基于全向视觉传感器的多移动机器人协同观测生成环境地图的方法。在已知机器人运动的前提下，通过监测图像的方位变化，生成一个场景的环境地图。首先，各机器人之间进行感知数据信息的沟通和交换，然后，通过评估机器人的相对运动方向和估计垂直边缘的位置来估计合作机器人。最后，将两幅环境图进行整合，生成全局环境图。

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The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS

We describe a method for generating the environmental map by cooperative observation among multiple mobile robots with omnidirectional visual sensor. Under the assumption of the known motion of the robot, an environmental map of a scene is generated by monitoring azimuth change in the image. First, each robot communicates and exchanges information of sensory date, then, can estimate a cooperative robot by evaluating relative directions of motion and estimated locations of vertical edges. Finally, a global environmental map is generated by integrating both environmental maps.

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来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

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