The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS

Author

Yagi, Yasushi ; Izuhara, Shinichi ; Yachida, Masahiko

Author_Institution

Fac. of Eng. Sci., Osaka Univ., Japan

Volume

2

fYear

1996

fDate

4-8 Nov 1996

Firstpage

640

Abstract

We describe a method for generating the environmental map by cooperative observation among multiple mobile robots with omnidirectional visual sensor. Under the assumption of the known motion of the robot, an environmental map of a scene is generated by monitoring azimuth change in the image. First, each robot communicates and exchanges information of sensory date, then, can estimate a cooperative robot by evaluating relative directions of motion and estimated locations of vertical edges. Finally, a global environmental map is generated by integrating both environmental maps

Keywords

cooperative systems; image sensors; mobile robots; motion estimation; navigation; COPIS; azimuth change; cooperative observation; cooperative robot; global environmental map; multiple mobile robots; omnidirectional image sensor; omnidirectional visual sensor; Azimuth; Image sensors; Layout; Mirrors; Mobile robots; Monitoring; Motion estimation; Robot kinematics; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.571020

Filename

571020