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Accession number;02A0585365
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| Title;Self-Localization for Mobile Robot Based on Floor Region on Omni-Directional Image. |
| Author;
USUI TOMOYA
(Osaka Univ.)
FUJIMOTO RYOHEI
(Akashi Coll. of Technol.)
SEKIMORI DAISUKE
(Akashi Coll. of Technol.)
MASUTANI YASUHIRO
(Osaka Univ.)
MIYAZAKI FUMIO
(Osaka Univ.)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2001;NO.Pt.3;PAGE.2A1.B3(1)-2A1.B3(2)(2001)
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| Figure&Table&Reference;FIG.3, TBL.1, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;A method of self-localization based on floor region on omni-directional image is proposed. To overcome occlusion of landmark, a known whole floor region is employed as landmark. After convex hull operation to restore the floor image, the robot position is estimated by non-linear least square method taking account of characteristic of omni-directional image. We confirm effectiveness of the proposed method by experiments using RoboCup small-size league robot equiped with omni-directional vision. (author abst.) |
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