移動体自律走行のための基準天井蛍光灯の位置計測

抄録

This paper describes a method of the position measurement of ceiling fluorescent lamps that are reference points to measure vehicle positions for autonomous navigation. The principle of the present method is basically the motion stereo that makes use of the vehicle itself and has an advantage that it works even when orientation of a camera is unknown. We can also obtain the vehicle traveling routes while positions of fluorescent lamps are measured. Because our final purpose is the measurement of the vehicle positions, we have examined the accuracy of the vehicle position measurement using the measured coordinates of the reference fluorescent lamps by both experiments and numerical simulations and confirmed the validity of the present method.