複数の全方位カメラによるマーカを用いた位置計測

抄録

The stereo measurement method is applied to an autonomous mobile robot or a car. However, the measurement range of the stereo measurement method is limited to obstacles. In previous research, we have put two cameras on individual mobile robots and used the MMS (Multi Mobile Sight) method to measure the distance to an object while changing the distance between the camera freely. The relative position of the camera is necessary for this MMS method, but we cannot measure the relative position and the distance at the same time with the system which we used. Therefore, as technique to measure relative position and the distance to an object at the same time, we have proposed the stereo measurement method using omnidirectional cameras. We expand the measurement range by using omnidirectional cameras which can measure the distance between the camera and the distance to an object at the same time.