ステレオビジョンによる新しい空間認識手法の提案

抄録

Requirement for robots has been changed from the work that performed by operators via robots, to the autonomous action took by themselves. Visual servoing is one of a method to control robots’ motion by installing the visual information into the feedback loop. Therefore, it is expected to enable robots to work in the constantly changing environment or unknown environment. However, to recognize target object from images, some degree of predefined knowledge is needed. Our research group proposed a new system that performs visual servoing that can avoid corresponding points identification problem. In our laboratory, we have been studying robots to explore the ocean. We would like to track new target sea animals with visual servoing in the ocean. In this study, the accuracy of position estimation of the model of marine organisms by this system is verified.