書誌事項
- タイトル別名
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- Dominant Direction Detection using the Characteristics of Indoor Environment Shape for Autonomus Mobile Robots
- オクナイ ジリツ イドウ ロボット ノ タメ ノ カンキョウ ノ トクチョウテキ ホウイ ノ ケンシュツ シュホウ
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抄録
The current orientation estimation is the principal task for mobile robots. We have been developing the orientation estimation method for indoor mobile robots, using the properties of the ordinary building structure, which we can assume that most of walls and furnitures are arranged in parallel or perpendicular to the dominant direction. Based on this assumption, robots can detect the characteristic geometry of environment efficiently. In this paper, we propose two kinds of methods to find the dominant direction of the building from the surrounding range data based on these characteristics, to estimate the orientation of the robot by the scanned range data. And we present the results of experiments to verify the effectiveness of the proposed methods.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 31 (3), 310-318, 2013
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204728126848
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- NII論文ID
- 10031162056
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024652883
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可