Recognition of Dynamically Changing Environment by Autonomous Mobile Robot

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  • 自律移動ロボットによる動的環境の認識(学生研究発表会)
  • 自律移動ロボットによる動的環境の認識
  • ジリツ イドウ ロボット ニ ヨル ドウテキ カンキョウ ノ ニンシキ

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Abstract

Mobile robots are required to recognize dynamically changing environments to avoid collisions with walkers. Distance information obtained by stereo vision is useful for recognition of surrounding environments. However, there are some problems such that a stereo camera cannot obtain distance information for textureless regions and that objects and their surrounding cannot be distinguished by distance information if they are very close to each other. This paper proposes a method for generating environment models more robustly by integrating distance and color information, and for finding robot's path autonomously using the environment models. The effectiveness of the proposed method is shown through experiments with a real robot.

Journal

  • ITE Technical Report

    ITE Technical Report 33.11 (0), 21-24, 2009

    The Institute of Image Information and Television Engineers

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