書誌事項
- タイトル別名
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- Local Position Measurement of Moving Robots System Using Stereo Measurement on the Uneven Floor
- イドウ ロボット オ モチイタ ソウガン ドクリツ ナ ステレオカメラホウ イチ ケイソク ニ ヨル フセイ ジメン ジョウ デ ノ ソウタイ イチ シュトクホウ
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抄録
The stereo measurement has been used to identify the positions of a target object. In a general way of the stereo measurement by single robot, multiple cameras are used in which their position and posture are fixed. However, it is difficult to detect the object which is occluded by other objects, and is moving over a wide range. In this paper, we propose a novel method for measuring a mobile robot's relative position and posture. For the stereo measurement, it is required for robots to measure precisely informations about the distance between cameras, as well as the relative posture of the cameras. To hold their positional and posture informations, the robot was equipped with three identification markers and share the images taken by another robot. To confirm the effectiveness of the proposed method, we experiments the stereo measurement by real two robots on uneven floor.
収録刊行物
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- 精密工学会誌
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精密工学会誌 79 (10), 937-942, 2013
公益社団法人 精密工学会
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詳細情報 詳細情報について
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- CRID
- 1390282679804894208
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- NII論文ID
- 130003384910
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- NII書誌ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL書誌ID
- 024937084
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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
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- 抄録ライセンスフラグ
- 使用不可