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

Abstract

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.