Environment Sensing by Mobile Robot Equipped with a Single Omni-Directional Camera
| Project/Area Number |
20700184
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Shizuoka University |
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Principal Investigator |
YAMASHITA Atsushi Shizuoka University, 工学部, 准教授 (30334957)
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| Project Period (FY) |
2008 – 2009
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| Project Status |
Completed (Fiscal Year 2009)
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| 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)
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| 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 |
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| 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.
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Report
(3 results)
Research Products
(25 results)
