Estimation of two-dimensional movement of outdoor mobile robot using video information of road surface

Abstract

When inspecting infrastructure buried in the ground such as pipeline, it is necessary to investigate the existence of other buried objects. As a method studied for that purpose, there is a method in which a hand-operated measuring carts with a ground penetrating radar is moved on the ground in an area to be investigated for measurement. It is expected that information can be effectively utilized by estimating the position of the measuring carts and correlating it with the data of the ground penetrating radar. In this paper we propose self-position estimation method using video information of road surface. Furthermore, we verify the effectiveness of the proposed method by demonstration experiment.