パン・チルト機構上のLiDARとYOLOを用いた物体追尾システムの試作

抄録

As robots are put to practical use in various fields and autonomous mobile robots are used in daily life, accidents such as collisions between robots and people or objects can occur when the space where people live and the robot's range of activities are mixed. Such accidents are not only dangerous for people, but also pose a major problem for robots. Therefore, the safety of autonomous mobile robots is essential.

To evaluate whether the robot can accurately estimate its own position, we developed a prototype device that can estimate the robot's three-dimensional coordinates from the external world by using a laser rangefinder to measure the distance to the robot and YOLOv5 to track the robot.