Image Memory Based Navigation with 3D-2D Edge Matching for Mobile Robot Equipped with Omni-directional Camera
نویسندگان
چکیده
Map information is important for self localization and path planning when mobile robots accomplish autonomous tasks. We use 3D environment model containing color data and structure data of the environment. We propose a method for image memory based navigation of a mobile robot with 3D-2D edge matching by using a 3D environment model. Our proposed self localization method is composed of two phases. First, the robot estimates its position and orientation by matching an omni-directional image of the environment to arbitrary viewpoint images generated from a 3D environment model. Second, the robot estimates its position and orientation by matching a Canny edge image to 3D edge point measurement. Experimental results showed the effectiveness of the proposed method.
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