2A1-U06 弁別性と持続性の評価に基づく移動ロボットのためのビジュアルランドマーク選択

Abstract

This paper describes a method of landmark selection from image streams captured by a camera mounted on a mobile robot. To select stable visual landmarks for mobile robots, two measures to evaluate the landmark "visibility" are considered. After that, under the assumption that robots are able to seek their feasible landmark actively, repeatability of landmarks is evaluated. Weighting techniques using feature position relationships is proposed, and landmark selection criteria using variation coefficient is defined. Proof experiments using a real mobile robot shows the effectiveness of the proposed method.