複数ロボットの協調観測による物体モデリングに関する研究

抄録

In recent years, an advance into society of the autonomous mobile robot is becoming active. The research of environmental map-making and object recognition is conducted for the autonomous mobile robot to active in society. In this paper, I propose a method to the automatic object modeling based on the cooperative observation of multi robots. I perform the data acquisition using two mobile robots which located RGB-D camera at the different position. I unified the multi viewpoint data which I acquired using ICP algorithm which evaluated for each of region and made a model. We make a model for the purpose of performing the object recognition in the environmental map.