移動ロボットナビゲーションにおけるセンサ特徴の自動選択のための画像特徴設計

抄録

In this study, we aim at navigation that does not require prior environment maintenance by automatically selecting features obtained from multiple sensors according to the environment.In this paper, we propose a method using line segments existing in the environment for robot path recognition.We conducted an experiment to detect a line segment in the environment as one of multiple features by image processing and convert it to 3D information, and an experiment to detect an ambiguous line segment by lowering the image resolution.