コーナー特徴を用いた画像処理と環境モデルの比較に基づくロケーションシステム

摘要

本研究では，ビルや一般的な住居などの屋内の環境を対象として，カメラの入力画像からコーナー特徵を抽出し，それを3次元環境モデルと比較することで自己位置を推定するロケーションシスデムを開発する.さらに，開発するロケーションシステムを適用した移動ロボットシステムを構築し，移動ロボットシステムを用いた走行実験により，開発するロケーションシステムの有効性を示す.%Robots which play important roles such as social welfare and services in the home and office axe required for the aging society. These robots need a location system which can be adapted in the home environment. Therefore, in this paper, we develop a location system based on comparing of 3D surrounding model with input images of a camera. In this system, corner features such as corners of doors or furnitures, axe extracted from inputted images of a camera by ORB. A position and a posture of the camera are estimated by matching these corner features and those of 3D surrounding model. Then, the estimation of the position and the posture is continued by tracing these features using FREAK. The location system can estimate the position and the posture of the camera in a case that the camera is rotated on the optical axis. Furthermore, a mobile robot system which is used the proposed location system is constructed. Using the mobile robot system, traveling experiments are performed. As a result, the mobile robot system could follow the reference path based on the estimated position and posture of the camera, when the camera was rotated on the optical axis. Thus, an effectiveness of the developed location system is demonstrated.