Abstract
In this paper, we propose a method of obstacle avoidance and a method of self-localization based on floor region provided by omnidirectional imaging. With our methods, omni-directional imaging is used not for recognition of the three-dimensional environment but for detecting obstacles and landmarks in a wide area at high speed. Several experiments with a real robot according to the rules of the RoboCup Small-Size League was demonstrated, and proved the effectiveness of these methods. © 2002 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Sekimori, D., Usui, T., Masutani, Y., & Miyazaki, F. (2002). High-speed obstacle avoidance and self-localization for mobile robots based on omni-directional imaging of floor region. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2377 LNAI, pp. 204–213). Springer Verlag. https://doi.org/10.1007/3-540-45603-1_21
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