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Accession number;02A0713951
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| Title;Self-Localization for Mobile Robots Based on Omni-Directional Imaging of Floor Region and Dead Reckoning. |
| Author;
USUI TOMOYA
(Osaka Univ.)
SEKIMORI DAISUKE
(Akashi National Coll. Technol., JPN)
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.2002;NO.Pt.5;PAGE.2P2.D02(1)-2P2.D02(2)(2002)
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| Figure&Table&Reference;FIG.7, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper describes a self-localization method to estimate much better values than individual methods by integrating omni-directional vision and dead reckoning with the Kalman filter. The self-localization can be executed robustly when robot position differs dramatically by collision with other obstacles or human break-in. Furthermore, Several experiments on the real robot proved the effectiveness of these methods. (author abst.) |
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