複数移動ロボットにより観測された環境地図の統合

抄録

In this paper, we describe a method for generating an environmental map by cooperative observation among multiple mobile robots with omnidirectional visual sensors. Each robot with a conic projection image sensor COPIS can observe an omnidirectional view around the robot in real-time with use of a conic mirror. 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 sensory data information. Then, static objects, unknown moving objects and other cooperative robots are discriminated by evaluating relative directions of motion and estimated locations of vertical edges. Finally, a global environmental map is generated by matching all environmental maps.