移動ロボットのためのRGB-Dデータによる平面鏡検出システムの開発

抄録

There should have some mirrors in the indoor environments. Autonomous mobile robots should detect mirrors not as wall, but as mirror, because there are more advantages that can use virtual images from mirrors. This should be able to use in unknown environments for robots. In this paper, we suggest algorithm of flat mirrors detection system using RGB-D data and develop preprocessing part of whole programs, and experiment of calculating the coordinate and orientation of one of the mirror surface point. Our goal is to get coordinate and orientation of whole of a mirror and reflect the result on the environmental map for later uses.