カラー画像を用いた歩道領域の認識と自律移動ロボットによる歩道沿い走行

抄録

This paper describes a method for a mobile robot walkway following behavior based on color image segmentation. The authors aim at accomplishing outdoor navigation in the campus walkway environment by mobile robot on which a normal Personal Computer is equipped for image processing and motion control. Although Thorpe et al. proposed a method for a road following based on color image segmentation, their approach is not suitable for such a PC computational power. The authors referred to this framework, and adapted and modified the Thorpe's approach to decrease the computational load. The authors implemented the adapted method onto a real mobile robot, and accomplished walkway following experiments under various daylight conditions.