• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Environment Sensing by Mobile Robot Equipped with a Single Omni-Directional Camera

Research Project

Project/Area Number 20700184
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionShizuoka University

Principal Investigator

YAMASHITA Atsushi  Shizuoka University, 工学部, 准教授 (30334957)

Project Period (FY) 2008 – 2009
Project Status Completed (Fiscal Year 2009)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2009: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2008: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Keywords全方位カメラ / 移動ロボット / センシング / 3次元計測 / 地図生成 / モデリング / 環境センシング / 単眼カメラ / 画像処理 / 環境モデリング / 特徴点追跡
Research Abstract

Measurement and modeling of a surrounding environment is important for mobile robots to move autonomously. In this study, we propose a new method for environment measurement using an omni-directional camera on a mobile robot. The method measures surrounding environment at the same time as estimating the robot's motion. We show the validity of our method through experiments.

Report

(3 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • Research Products

    (25 results)

All 2010 2009 2008 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (22 results) Remarks (1 results)

  • [Journal Article] Three-Dimensional Environment Model Construction from an Omnidirectional Image Sequence2009

    • Author(s)
      Ryosuke Kawanishi, Atsushi Yamashita, Toru Kaneko
    • Journal Title

      Journal of Robotics and Mechatronics Vol.21,No.5

      Pages: 574-582

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Three-Dimensional Environment Model Construction from an Omnidirectional Image Sequence2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Journal Title

      Journal of Robotics and Mechatronics Vol.21, No.5

      Pages: 574-582

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] 全方位画像列の特徴点とエッジ情報を併用したカメラ運動推定による3次元環境計測2010

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      第15回ロボティクスシンポジア講演予稿集
    • Place of Presentation
      奈良
    • Year and Date
      2010-03-16
    • Related Report
      2009 Final Research Report
  • [Presentation] 全方位画像列の特徴点とエッジ情報を併用したカメラ運動推定による3次元環境計測2010

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      第15回ロボティクスシンポジア
    • Place of Presentation
      奈良
    • Year and Date
      2010-03-16
    • Related Report
      2009 Annual Research Report
  • [Presentation] 3次元環境モデル構築のための全方位画像からのモデル形状に適合したテクスチャ生成2009

    • Author(s)
      纐纈理志, 川西亮輔, 山下淳, 金子透
    • Organizer
      ビジョン技術の実利用ワークショップ講演論文集(ViEW2009)
    • Place of Presentation
      横浜
    • Year and Date
      2009-12-03
    • Related Report
      2009 Final Research Report
  • [Presentation] 3次元環境モデル構築のための全方位画像からのモデル形状に適合したテクスチャ生成2009

    • Author(s)
      纐纈理志, 川西亮輔, 山下淳, 金子透
    • Organizer
      ビジョン技術の実利用ワークショップ(ViEW2009)
    • Place of Presentation
      横浜
    • Year and Date
      2009-12-03
    • Related Report
      2009 Annual Research Report
  • [Presentation] Environment Measurement based on Structure from Motion with Feature Flow Model by Using Omni-Directional Camera2009

    • Author(s)
      Ryosuke Kawanishi, Atsushi Yamashita, Toru Kaneko
    • Organizer
      Proceedings of the 3rd International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2009)
    • Place of Presentation
      Kokura (Japan)
    • Year and Date
      2009-11-12
    • Related Report
      2009 Final Research Report
  • [Presentation] Environment Measurement based on Structure from Motion with Feature Flow Model by Using Omni-Directional Camera2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      3rd International Conference of Asian Society for Precisi on Engineering and Nanotechnology (ASPEN2009)
    • Place of Presentation
      小倉
    • Year and Date
      2009-11-12
    • Related Report
      2009 Annual Research Report
  • [Presentation] Estimation of Camera Motion with Feature Flow Model for 3D Environment Modeling by Using Omni-Directional Camera2009

    • Author(s)
      Ryosuke Kawanishi, Atsushi Yamashita, Toru Kaneko
    • Organizer
      Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)
    • Place of Presentation
      St. Louis (U.S.A. )
    • Year and Date
      2009-10-13
    • Related Report
      2009 Final Research Report
  • [Presentation] Estimation of Camera Motion with Feature Flow Model for 3D Environment Modeling by Using Omni-Directional Camera2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)
    • Place of Presentation
      米国セントルイス
    • Year and Date
      2009-10-13
    • Related Report
      2009 Annual Research Report
  • [Presentation] 全方位カメラを用いた特徴点フローモデルによる3次元環境モデル生成2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      画像の認識・理解シンポジウム2009(MIRU2009)論文集
    • Place of Presentation
      松江
    • Year and Date
      2009-07-22
    • Related Report
      2009 Final Research Report
  • [Presentation] 全方位カメラを用いた特徴点フローモデルによる3次元環境モデル生成2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      画像の認識・理解シンポジウム2009 (MIRU2009)
    • Place of Presentation
      松江
    • Year and Date
      2009-07-22
    • Related Report
      2009 Annual Research Report
  • [Presentation] 特徴点フローモデルを用いた全方位カメラの位置姿勢推定による3次元環境モデリング2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'09講演論文集
    • Place of Presentation
      福岡
    • Year and Date
      2009-05-25
    • Related Report
      2009 Final Research Report
  • [Presentation] 特徴点フローモデルを用いた全方位カメラの位置姿勢推定による3次元環境モデリング2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会09
    • Place of Presentation
      福岡
    • Year and Date
      2009-05-25
    • Related Report
      2009 Annual Research Report
  • [Presentation] 全方位カメラを用いた周囲環境計測のための特徴点フローモデルによる位置姿勢推定2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      映像情報メディア学会技術報告
    • Place of Presentation
      横浜
    • Year and Date
      2009-02-28
    • Related Report
      2009 Final Research Report
  • [Presentation] 全方位カメラを用いた周囲環境計測のための特徴点フローモデルによる位置姿勢推定2009

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      映像情報メディア学会メディアエ学研究会
    • Place of Presentation
      横浜
    • Year and Date
      2009-02-28
    • Related Report
      2008 Annual Research Report
  • [Presentation] 全方位画像列からの周囲環境モデル構築2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      第26回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      神戸
    • Year and Date
      2008-09-10
    • Related Report
      2009 Final Research Report
  • [Presentation] 全方位画像列からの周囲環境モデル構築2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      第26回日本ロボット学会学術講演会(RSJ2009)
    • Place of Presentation
      神戸
    • Year and Date
      2008-09-09
    • Related Report
      2008 Annual Research Report
  • [Presentation] Construction of 3D Environment Model from an Omni-Directional Image Sequence2008

    • Author(s)
      Ryosuke Kawanishi, Atsushi Yamashita, Toru Kaneko
    • Organizer
      Proceedings of the 3rd Asia International Symposium on Mechatronics (AISM2008)
    • Place of Presentation
      Sapporo (Japan)
    • Year and Date
      2008-08-28
    • Related Report
      2009 Final Research Report
  • [Presentation] Construction of 3D Environment Model from an Omni-Directional Image Sequence2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      3rd Asia International. Symposium on Mechatronics (AISM2008)
    • Place of Presentation
      北海道
    • Year and Date
      2008-08-28
    • Related Report
      2008 Annual Research Report
  • [Presentation] 全方位カメラを用いた3次元環境モデリング2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      画像の認識・理解シンポジウム2008 (MIRU2008)論文集
    • Place of Presentation
      軽井沢
    • Year and Date
      2008-07-25
    • Related Report
      2009 Final Research Report
  • [Presentation] 全方位カメラを用いた3次元環境モデリング2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      画像の認識・理解シンポジウム2008(MIRU2008)
    • Place of Presentation
      軽井沢
    • Year and Date
      2008-07-25
    • Related Report
      2008 Annual Research Report
  • [Presentation] 全方位画像列を用いた3次元環境モデル生成2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'08講演論文集
    • Place of Presentation
      長野
    • Year and Date
      2008-06-07
    • Related Report
      2009 Final Research Report
  • [Presentation] 全方位画像列を用いた3次元環境モデル生成2008

    • Author(s)
      川西亮輔, 山下淳, 金子透
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'08(Robomec2008)
    • Place of Presentation
      長野
    • Year and Date
      2008-06-07
    • Related Report
      2008 Annual Research Report
  • [Remarks]

    • URL

      http://sensor.eng.shizuoka.ac.jp/~yamasita/

    • Related Report
      2009 Final Research Report

URL: 

Published: 2008-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi