移動ロボットのための3次元環境モデルの自動作成 : ステレオ画像計測により得られたセルの直方体への統合

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/4301
File
Title
移動ロボットのための3次元環境モデルの自動作成 : ステレオ画像計測により得られたセルの直方体への統合
Title Alternative
Automatic Generation of 3-D World Models for a Mobile Robot : Integration of Cells from Stereo Techniques to a Rectangular Parallelepiped
Author
氏名 西本 澄
ヨミ ニシモト キヨシ
別名 Nishimoto Kiyoshi
氏名 竹森 禎治
ヨミ タケモリ サダハル
別名 Takemori Sadaharu
Subject
Mobile Robot
Integration
3D-World
Accuracy
Dispersion
Cell
Convex Hull
Rectangular Parallelepiped
Stereo lmaging System
Abstract

To make a mobile robot autonomous, it must have a capability that it investigates a real world and constructs the 3-D environment models. However, the accuracy of a sensor reading mainly depends on the accuracy of image processing system and the alighnment errors of housing. An object position observed in the world also depends on the camera position and attitude from a dead reckoned estimate. So we propose a 3-D model generating system for a mobile robot. In this paper, we consider a rectangular cell whose dimensions are determined from a sensor reading, its accuracy and dispersion with the stereo imaging system. These sensory data are stored in a computer by a list of cells according to a camera position and direction, and a tilt angle. And they are integrated to a rectangular parallelepiped through a convex hull, based on the recorded data and the informations with them. We have examined four typical examples for vehicles and the proposed method proved to be effective to present 3-D models for a mobile robot.

Journal Title
広島工業大学研究紀要
Volume
31
Spage
75
Epage
81
Published Date
1997
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima