吊下型外壁昇降ロボットの画像モザイキングと自己位置推定

抄録

For the hanging-type external wall elevating robot under development in this research, we take a wall surface with the camera attached to the robot, localization of the robot from the image and generate the overall image of the wall. For image mosaicing, a method of performing matching using local feature quantities of an image is common, but there are cases where matching can’t be performed because sufficient feature points can’t be extracted on walls with poor edge features. In this research, we propose a robot pose estimation and image mosaicing using template matching.