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.
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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: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_21
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DOI: https://doi.org/10.1007/3-540-45603-1_21
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