抄録
This paper presents a navigation system based on an inaccurate map. The map we consider here is a hybrid of topological map and geometrical map so that it can be built easily and permit changes in objects locations. A localization scheme and an object recognition technique are introduced in order to keep the robot pose consistent on such an inaccurate map. To cope with the problem that a path may also be inaccurate on an inaccurate map, the robot corrects the path based on its pose estimated by the localization method while tracking the path. An experiment shows that the robot successfully navigated in an indoor environment, recognizing several kinds of objects.
| 本文言語 | English |
|---|---|
| ページ | 619-624 |
| ページ数 | 6 |
| 出版ステータス | Published - 2002 1月 1 |
| イベント | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland 継続期間: 2002 9月 30 → 2002 10月 4 |
Conference
| Conference | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| 国/地域 | Switzerland |
| City | Lausanne |
| Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用