Azimuth Angle Detection Method Combining AKAZE Features and Optical Flow for Measuring Movement Accuracy
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- Tobita Kazuteru
- Shizuoka Institute of Science and Technology
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- Mima Kazuhiro
- Shizuoka Institute of Science and Technology
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<p>In recent years, autonomous robots have been practically used outdoors for transportation, delivery, and other applications. To ensure safety and reliability, it is necessary to measure and evaluate the accuracy of a robot’s movement from the outside. In this study, we develop a device to externally measure the coordinates and azimuth angle of a robot by combining image processing and distance measurement. In this study, an azimuth angle detection method that combines coarse-angle detection using AKAZE feature detection and small-angle detection using optical flow is proposed. The experimental results show that the azimuth angle can be detected with a standard deviation of σ=0.70° indoors and σ=0.99° outdoors.</p>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 35 (2), 371-379, 2023-04-20
富士技術出版株式会社
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詳細情報 詳細情報について
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- CRID
- 1390577298347824768
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 032772262
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- 本文言語コード
- en
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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