局所カラーヒストグラムに基づく路面推定と移動制御に関する研究

抄録

We developed the mobile robot that moved autonomy by an estimation of a road surface based on the color information. The proposed method performs a detection of a road surface by the similarity of local color histogram and a detection of a road corner by the shape of a detected road. The proposed method can robustly detect a road only using a RGB camera. In the experiment using the mobile robot, the robot performs proper right and left turn movement. Thereby, we confirmed the effectiveness of the proposed method.