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This paper proposes robust localization method using a free-space observation model with a 3D map for a particle filter. The free-space observation model judges whether the free space of a laser beam of a sensor is appropriate. The observation model realizes highly robust localization in outdoor environments with many unknown obstacles. This paper describes the free-space observation model and the...
The authors aim at recognition of multiple objects by using robot vision and its manipulation. In the case where multiple objects are arranged in a shelf, front objects may conceal some objects behind them. A robot can recognize these objects if it can recognize the front objects using prior knowledge and remove them with its arm. However, it sometimes fails to recognize the objects because of the...
A rescue crawler robot having flipper arm has high ability to get over rough terrain, but it is hard to control its flippers in remote control. The authors aim at development of a semi-autonomous control system for the crawler robot. In the system, moving direction is specified by an operator at remote place. Joypad (Sony PS2 controller) is used as input devise. For increasing its stability and robustness...
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