The purpose of this study is to realize autonomous navigation of a mobile robot in an indoor environment by teaching and playback method, without making any environmental map in advance. The strategy of navigation in this study is that the robot runs based on its odometry information and corrects its position using landmark information obtained from stereo vision sensor. We use a trinocular vision system to solve easily the stereo matching problem and choose vertical lines in the environment as landmarks because of their easiness to detect and sufficient existence in the environment. In this paper, the method of teaching and playback is described and some experimental results are also shown.
|出版ステータス||Published - 2001 12月 1|
|イベント||27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States|
継続期間: 2001 11月 29 → 2001 12月 2
|Conference||27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001|
|Period||01/11/29 → 01/12/2|
ASJC Scopus subject areas