マルチ全方位ビジョンMOVISを用いた物体位置計測および自己位置同定手法

摘要

In this research, we proposed a multiple omnidirectional vision system (MOVIS) with threeomnidirectional cameras and its calculation method for the measurement of the object position and the selflocalizationin an autonomous mobile robot.F urethermore, on the identification of the self-position, we triedto improve the accuracy of the measurement by correcting the absolute position based on the measurementerror of landmarks in the origin of the absolute coordinate.T o confirm the efficiency of our proposed system,we actually performed the measurement experiment.