単眼カメラとラインレーザーを用いたリアルタイム距離計測システムの開発

抄録

In recent years, the importance of autonomous mobile robots has been increasing in disaster situations．In this study，we developed a system that can measure the straight-line distance to obstacles in real time using a monocular camera and a line laser，and verified the effectiveness of the system using a crawler robot equipped with the system．The effectiveness of the proposed method is demonstrated by making a crawler robot equipped with a line laser and a camera move straight toward an obstacle, and comparing the distance measured from the image processing results in a dynamic environment with the actual distance between the obstacle and a crawler robot.