レンガ敷きの路面からのビジュアルオドメトリ

抄録

We propose a new visual odometry method for a mobile robot using an RGB camera and the pattern of brick-like paving stones on the pavement. This method uses the size data of the paving stones. Differently form previous visual odometry methods based on floor patterns, this method does not require any environmental map. Our method also requires no precise attachment of the camera on the robot. In the experiment in which we make the robot goes straight, the method can measture the displacement with 2[%] error along its path.