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Accession number;02A0713952
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| Title;Detection of Free Space for Mobile Robots Based on Dinamically Divided Floor Region on Omni-Directional Image. |
| Author;
SUGIMOTO HIROKAZU
(Akashi National Coll. Technol., JPN)
ENOMOTO MASAYA
(Akashi National Coll. Technol., JPN)
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.D03(1)-2P2.D03(2)(2002)
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| Figure&Table&Reference;FIG.5, REF.1 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;We proposed a high-speed detecting method for free space around the robot by dividing floor region provided from omni-directional imaging into many cells. However, in the previous method to divide floor region uniformly, obstacles for mobile direction are not detected correctly when the robot velocity is high. This paper describes a effective detection method of free space by dinamically changing detection range for obstacles and partitioning density of cells based on mobile velocity and mobile direction of robot. (author abst.) |
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