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In this paper, we propose a method for a mobile robot to navigation in textureless environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omni-directional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can autonomously travel while avoiding walls as obstacles. The method has...
In recent years, the demand for autonomous mobile robots in outdoors environments has been increasing. In order to guide the robot, it is essential to get the current position. In this study, we propose a method to correct the self-position of the robot, which is estimated by odometry, aerial imagery, and the SOKUIKI sensor. First, we explore how to superimpose the reflection point cloud on top of...
Today, simple and accurate pose estimation is needed for small underwater robots to support and to replace submergence operation divers. Position and orientation estimation using luminous markers and the computer tracking library ARToolKit is one of the solutions for estimation, since it is fast enough for real time processing and is open sourced. Although, since it was made for augmented reality,...
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