Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Vision-Based Feature Map-Building and Localization Algorithms for Mobile Robots

주행 로봇을 위한 비젼 기반의 특징지도 작성 및 위치 결정 알고리즘에 관한 연구

  • Kim, Young-Geun (Graduate School of Information and Communication Eng., Inha University) ;
  • Choi, Chang-Min (Dept. of Mechanical Eng., Inha University) ;
  • Jin, Sung-Hun (Graduate School of Eng., Inha University) ;
  • Kim, Hak-Il (Graduate School of Information and Communication Eng., Inha University)
  • 김영근 (인하대학교 정보통신대학원) ;
  • 최창민 (인하대학교 기계공학부) ;
  • 진성훈 (인하대학교 산업대학원) ;
  • 김학일 (인하대학교 정보통신대학원)
  • Published : 2002.07.10
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Abstract

This paper consider's the problem of exploring an unfamiliar environment in search of recognizable objects of visual landmarks. In order to extract and recognize them automatically, a feature map is constructed which records the set of features continually during a learning phase. The map contains photometric geometric, and metric information of each feature. Meanwhile, the localization algorithm can determine the position of the robot by extracting features and matching in the map. These procedures are implemented and tested using an AMR, and preliminary results are presented in this paper.

Keywords