2A1-K08 三次元測域センサデータと航空画像のマッチングによる移動ロボットの自己位置認識(移動ロボットの自己位置推定と地図構築(1))
詳細
In recent years, the demand for autonomous mobile robot in outdoor environment has been increasing. In order to guide the robot, it is essential to get the current position. In this study, we propose a method to correct the self-position of the robot, which is estimated by odometry, by aerial imagery and SOKUIKI sensor. First, we explore how to superimpose the reflection point cloud on top of the aerial imagery. Next, matching the edge data of aerial imagery and the upper edge of the building from the inclined reflection point cloud corrects the self-correct of the robot, by which the robot was able to run on the straight road about 60m autonomously.
