基于三视视觉教学与回放的移动机器人自主导航

IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243) Pub Date : 2001-12-01 DOI:10.1109/IECON.2001.976515

A. Ohya, Y. Miyazaki, S. Yuta

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引用次数: 18

摘要

本研究的目的是在不预先制作任何环境地图的情况下，通过教学和回放的方式实现移动机器人在室内环境中的自主导航。本研究的导航策略是机器人根据其里程计信息运行，并使用从立体视觉传感器获得的地标信息来校正其位置。我们使用三视视觉系统来轻松解决立体匹配问题，并选择环境中的垂直线作为地标，因为垂直线容易被检测，并且在环境中充分存在。本文介绍了教学和回放的方法，并给出了一些实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

The purpose of the 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 the study is that the robot runs based on its odometry information and corrects its position using landmark information obtained from a 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 the paper, the method of teaching and playback is described and some experimental results are also shown.

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IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)

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