書誌事項
- タイトル別名
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- Occlusion-Robust Template Matching Method for Detecting Objects on 2D Map
抄録
<p>We proposed and evaluated a robust method for occlusion to detect the reference object from a two-dimensional (2D) map acquired by SLAM (Simultaneous Localization and Mapping) so that a mobile robot running along a route can correctly stop in front of the reference object even if the room arrangement is changed. The stopping position of the conventional mobile robot had to be configured through trial and error, considering factors such as repetition accuracy, camera angle of view, and manipulator's motion range, which required man-hours at the work sites with frequently changing layouts. In this study, we proposed a system that recognizes an object that serves as a reference for the stopping position from a 2D environmental map acquired by SLAM and can take over the setting of the stopping position before and after room arrangement changes. The robustness of the proposed detection algorithm to occlusion was also evaluated.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2023 (0), 2P2-H02-, 2023
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390017444754980864
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- ISSN
- 24243124
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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
- Crossref
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- 抄録ライセンスフラグ
- 使用不可