全方位視覚センサによる動環境での静止環境地図および自己位置の同時推定

DOI Web Site 被引用文献6件 参考文献6件

書誌事項

タイトル別名
  • Environmental Map Generation and Egomotion Estimation in a Dynamic Environment for an Omnidirectional Image Sensor.
  • ゼンホウイ シカク センサ ニ ヨル ドウ カンキョウ デ ノ セイシ カンキョウ チズ オヨビ ジコ イチ ノ ドウジ スイテイ

この論文をさがす

抄録

Generation of an environmental map is one of important tasks for robot navigation. We have proposed a method to generate a static environmental map and estimate the egomotion of a robot by using an omnidirectional image sensor, based on the assumption of unknown translational motions of the robot. However, since both robot and objects move in the environment, the map generation and the robot egomotion estimation by using a single camera are difficult because of ambiguity of correspondence caused by occlusion. In this paper, we improve our previous method for treating applicable to a dynamic environment. The method can detect a moving object and find occlusion and mismatching by evaluating estimation error of each objects location.

収録刊行物

被引用文献 (6)*注記

もっと見る

参考文献 (6)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ