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ID 53641
フルテキストURL
著者
永井 伊作 岡山大学大学院自然科学研究科
Watanabe, Keigo 岡山大学大学院自然科学研究科
抄録
This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
発行日
2015-09-28
出版物タイトル
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
出版者
IEEE Robotics & Automation Society
開始ページ
6053
終了ページ
6058
資料タイプ
会議発表論文
言語
English
OAI-PMH Set
岡山大学
著作権者
© Copyright 2015 IEEE Robotics & Automation Society
イベント名の別言語
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
イベント地
Hamburg, Germany
イベント開催日
September 28 – October 02, 2015
論文のバージョン
author
査読
有り