1A2-F09 単眼カメラを用いた四輪型UGVの任意物体追従(車輪型/クローラ型移動ロボット(2))

抄録

In this paper, we get position and velocity of the arbitrary object relative to the vehicle to realize monocular camera based arbitrary object tracking for four-wheel UGV. Firstly, the object is detected in the camera image by matching local features. Secondly, using particle filter combine matching information with other sensor information, and estimate relative position and velocity. Lastly, we implement matching algorithm and particle filter, and verify their accuracy by experiments.