Navigation and Route Representation based on View Sequence

基于视图序列的导航和路线表示

• 批准号: 08455119
• 负责人: INOUE Hirochika
• 金额: $ 4.29万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 无数据
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455119/
• 关键词: robotics; computer vision; intelligent robot; vision processing; autonomous robot; route map; teaching

"View Sequence" is a sequence of views taken by the camera of the mobile robot along a route. In this research, we developed a model for representing a route and a method for real-time navigation based on the view sequence. The results of the research are summarized in following three points :(1) Development of a route representation based on view sequenceIn the teaching run by a human, the robot automatically takes sequential views. By smooting and shrinking the image, the route representation using view swquence becomes compact. This representation is easy to aquire and suitable for representing a route in the unstructured indoor environment.(2) Development of the recognition method based on the matching of the viewsThe matching of views is performed based on correlation of the images. As the results, the vertical and horizontal displacement and the distortion between two views, and consequently the position of the robot and the presence of obstacles are recognized.(3) Development of guiding a robot along a routeThe action of the robot and the control values (steering angle and speed) are determined using the result of matching. The autonomous navigation based on the view sequence is realized using the methods described above.

“视图序列”是由移动的机器人的相机沿着路线拍摄的视图的序列。在本研究中，我们发展了一个路径表示模型和一个基于视图序列的实时导航方法。本文的主要研究成果概括为以下三点：（1）基于视图序列的路径表示方法的研究在人的示教过程中，机器人自动获取视图序列。通过平滑和缩小图像，使用视图序列的路线表示变得紧凑。该表示方法简单易行，适用于非结构化室内环境中的路径表示。(2)基于视点匹配的识别方法的研究视点匹配是基于图像的相关性进行的。作为结果，两个视图之间的垂直和水平位移和失真，从而识别机器人的位置和障碍物的存在。(3)机器人沿着路径引导的开发利用匹配的结果确定机器人的动作和控制值（转向角和速度）。利用上述方法实现了基于视点序列的自主导航。

项目成果

Yoshio MATSUMOTO,Tomohiro SHIBATA et al.: "Development of Hyper Scooter : Navigation based on Memorization of View Sequence" Proc.of the 12th Annual Conf.of RSJ. Vol.3. 1143-1144 (1994)

Yoshio MATSUMOTO、Tomohiro Shibata 等人：“超级滑板车的开发：基于视图序列记忆的导航”第 12 届 RSJ 年度会议论文集。

松本吉央,柴田智広,他: "ハイパースクーターの研究:実画像列の記憶に基づく走行制御" 第12回ロボット学会学術講演会予稿集. 3. 1143-1144 (1994)

Yoshio Matsumoto、Tomohiro Shibata 等人：“超级滑板车研究：基于真实图像序列记忆的驾驶控制”机器人学会第 12 届年会论文集 3. 1143-1144 (1994)。

Y.Matsumoto,M.Inaba et.al.: "Visual Navigation using View-Sequenced Route Representation" Proc.of IEEE Int.Conf.on Robotics and Automation. 1. 83-88 (1996)

Y.Matsumoto、M.Inaba 等人：“使用视图顺序路径表示的视觉导航”Proc.of IEEE Int.Conf.on Robotics and Automation。

松本吉央,宮崎猛,他: "視野画像列の記憶に基づくナビゲーション-View Simulation Systemを用いた画像列の生成-" 第14回日本ロボット学会学術講演会予稿集. 1. 291-292 (1996)

Yoshio Matsumoto、Takeshi Miyazaki 等：“基于视场图像序列记忆的导航 - 使用视图模拟系统生成图像序列 -”日本机器人学会第 14 届学术会议论文集 1. 291。 -292 (1996)

Yoshio MATSUMOTO,Masayuki INABA et al.: "Navigation based on View Sequence : Matching using Color Image" Proc.of JSME [No.96-2] Annual Conf.on Robotics and Mechatronics. Vol.2. 1205-1206 (1996)

Yoshio MATSUMOTO、Masayuki Inaba 等人：“基于视图序列的导航：使用彩色图像进行匹配”Proc.of JSME [No.96-2] Annual Conf.on Robotics and Mechatronics。