Study of mobile robt navigation with MonoEye, the pan-tilt-zoom camera
Project/Area Number |
24300082
|
Research Category |
Grant-in-Aid for Scientific Research (B)
|
Allocation Type | Partial Multi-year Fund |
Section | 一般 |
Research Field |
Perception information processing/Intelligent robotics
|
Research Institution | National Institute of Advanced Industrial Science and Technology |
Principal Investigator |
SUMI Yasushi 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (30357305)
|
Co-Investigator(Kenkyū-buntansha) |
TANAKA Hideyuki 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, 主任研究員 (70376656)
KIM Bong Keun 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (10415672)
|
Project Period (FY) |
2012-04-01 – 2015-03-31
|
Project Status |
Completed (Fiscal Year 2014)
|
Budget Amount *help |
¥17,030,000 (Direct Cost: ¥13,100,000、Indirect Cost: ¥3,930,000)
Fiscal Year 2014: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2013: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2012: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
|
Keywords | 自律移動ロボット / 自己位置推定 / 画像処理 / 環境構造化 / 環境モデリング |
Outline of Final Research Achievements |
In this research, a great outcome has been obtained about the landmark detection based on the information structured environment technology. Specifically, the developed high accuracy markers were improved and the high accuracy localization method for mobile robots was established by using these markers. Based on the experiments using a mobile robot platform, it was shown that the autonomous navigation can be controlled in high accuracy using a pan-tilt-zoom camera (MonoEye) which observes the high accuracy visual marker. And also, a new path planning algorithm was proposed for the mobile robots with laser scanners, which allows environment modeling for the visual landmark simulation.
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Report
(5 results)
Research Products
(16 results)