Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot |
| |
Authors: | Eiji Hayashi Tomoyuki Kinoshita |
| |
Affiliation: | (1) Centre for Visual Science, Research School of Biological Sciences, Australian National University, GPO Box 475, 2601 Canberra, Australia; |
| |
Abstract: | We have developed a technology for a robot that uses an indoor navigation system based on visual methods to provide the required
autonomy. For robots to run autonomously, it is extremely important that they are able to recognize the surrounding environment
and their current location. Because it was not necessary to use plural external world sensors, we built a navigation system
in our test environment that reduced the burden of information processing mainly by using sight information from a monocular
camera. In addition, we used only natural landmarks such as walls, because we assumed that the environment was a human one.
In this article we discuss and explain two modules: a self-position recognition system and an obstacle recognition system.
In both systems, the recognition is based on image processing of the sight information provided by the robot’s camera. In
addition, in order to provide autonomy for the robot, we use an encoder and information from a two-dimensional space map given
beforehand. Here, we explain the navigation system that integrates these two modules. We applied this system to a robot in
an indoor environment and evaluated its performance, and in a discussion of our experimental results we consider the resulting
problems. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|