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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ito, K. Yokota, K. Ohya, A. |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Mechanical Engineering, Kanazawa Technical College, 2-270 Hisayasu Kanazawa, Ishikawa 9218601, Japan (Ito, K.) || Division of Information Engineering, University of Tsukuba, 1-1-1 Tennodai Ibaraki 3058573, Japan (Ohya, A.) || Computer Science, University of Tsukuba, 1-1-1 Tennodai Tsukuba, Ibaraki 3058573, Japan (Yokota, K.) |
| Abstract | In recent years, the demand for autonomous mobile robots in outdoors environments has been increasing. In order to guide the robot, it is essential to get the current position. In this study, we propose a method to correct the self-position of the robot, which is estimated by odometry, aerial imagery, and the SOKUIKI sensor. First, we explore how to superimpose the reflection point cloud on top of the aerial imagery. Next, matching the edge data of aerial imagery and the upper edge of the building from the inclined reflection point cloud corrects the self-correction of the robot, by which the robot is able to run on the straight road for about 60m autonomously. |
| Starting Page | 49 |
| Ending Page | 54 |
| File Size | 1148508 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467314961 |
| e-ISBN | 9781467314978 |
| DOI | 10.1109/SII.2012.6426962 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-12-16 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Image edge detection Buildings Robot sensing systems Educational institutions Mobile robots Equations |
| Content Type | Text |
| Resource Type | Article |
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