実運用化に向けた単眼カメラによる移動ロボットのビジュアルナビゲーション

抄録

In recent years, automation of mobile robots that can work with people is required. It is important that the mobile robots move based on the map created first rather than moving while creating the map, because robots need to move according to the administrator’s instructions. For that reason, it is necessary to be able to move even if the surrounding environment changes, such as changes of illuminance and movement of objects, since the map was first created. We developed a self-localization estimation algorithm robust to environmental changes using monocular camera suitable for recognition. We also implemented this algorithm on commercial conveying cart and confirmed automatic moving, so we report it.