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This study aims to develop an environment recognition method for a mobile robot using visual information in irregular ground. A mobile robot can autonomous movement, an environment recognition and object tracking by using visual information. But researches using visual information do not consider irregular ground. Visual information have errors in irregular ground. There are handling method by image processing technology, but that have limitations. So, We realize an environment recognition using visual information in irregular ground. We describe a relationship desparity errors between measurement errors of stereo method. Next, we measure distribution of disparity errors and propose correction method by disparity errors. We experiment moving on flat surface and irregular ground and verified effectiveness correction method by disparity errors.