SVMによる物体と位置の視覚学習に基づく屋外移動ロボットの位置推定

抄録

This paper describes a view-based localization method using support vector machines in outdoor environments. We have been developing a two-phase vision-based navigation method. In the training phase, the robot acquires image sequences along the desired route and automatically learns the route visually. In the subsequent autonomous navigation phase, the robot moves by localizing itself based on the comparison between input images and the learned route representation. Our previous localization method uses an object recognition method which is robust to changes of weather and the seasons; however it has many parameters and threshold values to be manually adjusted. This paper, therefore, applies a support vector machine (SVM) algorithm to this object recognition problem. SVM is also applied to discriminating locations based on the recognition results. In addition, to cope with image shifts caused by the variation of the robot's heading, we use a panoramic camera; we search the panoramic image for the region which matches the model image best. This two-stage SVM-based localization approach with a panoramic camera exhibits a considerable localization performacne for real outdoor image data without any manual adjustment of parameters and threshold values.