Vision based environment recognition for mobile robot in irregular ground

Author

Okazaki, Shin Ya ; Tanaka, Takayuki ; Kanek, Syun Ichi ; Matsushita, Akihiko

Author_Institution

Hokkaido Univ., Sapporo

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

107

Lastpage

111

Abstract

This study aims to develop an environment recognition method for a mobile robot using visual information in irregular ground. A mobile robot can autonomous movement, an environment recognition and object tracking by using visual information. But researches using visual information do not consider irregular ground. Visual information have errors in irregular ground. There are handling method by image processing technology, but that have limitations. So, We realize an environment recognition using visual information in irregular ground. We describe a relationship desparity errors between measurement errors of stereo method. Next, we measure distribution of disparity errors and propose correction method by disparity errors. We experiment moving on flat surface and irregular ground and verified effectiveness correction method by disparity errors.

Keywords

mobile robots; object recognition; robot vision; tracking; disparity error; image processing technology; irregular ground; mobile robot; object tracking; vision based environment recognition; visual information; Cameras; Electrical capacitance tomography; Electronic mail; Error correction; Measurement errors; Mechanical sensors; Mobile robots; Navigation; Roads; Robot vision systems; Disparity Error; Irregular Ground; Mobile Robot; Position Correction; Vision Based Recognition;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406889

Filename

4406889