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The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS

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3 Author(s)
Yagi, Y. ; Fac. of Eng. Sci., Osaka Univ., Japan ; Izuhara, S. ; Yachida, M.

We describe a method for generating the environmental map by cooperative observation among multiple mobile robots with omnidirectional visual sensor. Under the assumption of the known motion of the robot, an environmental map of a scene is generated by monitoring azimuth change in the image. First, each robot communicates and exchanges information of sensory date, then, can estimate a cooperative robot by evaluating relative directions of motion and estimated locations of vertical edges. Finally, a global environmental map is generated by integrating both environmental maps

Published in:

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

4-8 Nov 1996