Projection-based Mathing法を用いた低照度環境下における実時間認識

抄録

Nowadays, a decreasing birthrate and an aging population have been progressing in Japan, and it caused a problem of a decrease in the labor force. Therefore, the needs of robots to replace the work that humans did far have been increasing. To replace the work , robots need to operate autonomously in constant changing environments. In order to solve this problem, a method called visual servoing was proposed. Visual servoing is a method of controlling the operation of the robot by visual information obtained from the visual sensor. But the conventional method requires prior knowledge of the target concerning the shape, size and color of the object. This impairs the flexibility of the system in constantly changing environment. So our research group proposed and has been studying Projection-based Matching Method that does not require prior knowledge. In our laboratory , we have been studying robots to explore the ocean. We would like to track target in the ocean. In this study, the accuracy of position of objects that are estimated in low illuminance environment by this method is verified.