ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-G21
会議情報
2P1-G21 屋外環境における三次元環境計測システムの計測位置計画(3次元計測/センサフュージョン)
吉田 和哉永谷 圭司松澤 敬之
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会議録・要旨集 フリー

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This paper reports a sensing point planning for mobile robots to obtain 3-dimensional environment information which includes range and visual data. Generally, to avoid an occlusion problem and a low resolution problem, it is necessary for robots to sense in different places. Therefore, a suitable sensing point planning is required to reduce redundant sensing. This problem is called "Art Gallery and Illumination Problems" in 3-dimensional environment, and our approach is to solve the problem with consideration of both valid-sensing-area and partially-unknown environment. In this paper, we explain our planning-approach and introduce some initial experimental results.
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© 2008 一般社団法人 日本機械学会
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