2016 Fiscal Year Final Research Report
Self-Localization via Server Communication and Development of Keypoint Map
Project/Area Number |
26330305
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Research Category |
Grant-in-Aid for Scientific Research (C)
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Allocation Type | Multi-year Fund |
Section | 一般 |
Research Field |
Intelligent robotics
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Research Institution | National Institute of Advanced Industrial Science and Technology |
Principal Investigator |
Banno Atsuhiko 国立研究開発法人産業技術総合研究所, ロボットイノベーション研究センター, 研究チーム長 (70356187)
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Research Collaborator |
YOKOZUKA Masashi
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Project Period (FY) |
2014-04-01 – 2017-03-31
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Keywords | 3次元環境構築 / 自己位置推定 / 画像特徴点 |
Outline of Final Research Achievements |
We developed a method to acquire three-dimensional map only from images taken by several types of cameras using the technique of Structure from Motion. We set up a route of Tsukuba Mobility Robot Experimental Zone, and acquired a lot of movies with high definition omnidirectional cameras. Two types of methods for 3D reconstruction were produced: sequential and global methods. In order to cope with an increase of the number of images, we introduced an approximate solution method was introduced. As a result, computation time was reduced less than 3 % of the conventional method while suppressing accuracy degradation. Furthermore, instead of treating the omnidirectional image as a two-dimensional conventional image, three-dimensional pixel grid was set as a spherical image, and feature points and feature point descriptors could be directly extracted from the spherical surface. Using these, we developed a system that calculates the self-position on the map when a query image was taken.
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Free Research Field |
知能ロボティクス
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