Indoor Navigation based on an Inaccurate Map using Object Recognition

摘要

Although an environment map provides essential information for mobile robot navigation, an accurate map needs a lot of building cost and is not flexible to changes in object poses in the environment. A solution of these problems would be a framework of navigation using an inaccurate map. We have already proposed a representation of an inaccurate map and a localization method on the proposed map. In this paper, we present an object-recognition method suitable for mobile robot localization, and a path-tracking method on the proposed map. The robot recognizes objects such as desk and door, and localizes itself based on the relative poses from the objects. Since a path may also be inaccurate on an inaccurate map, the robot corrects the path based on localization results while tracking the path. Integrating these methods, we have built an indoor navigation system. An experiment shows that the robot successfully navigated in an indoor environment, recognizing several kinds of objects.