Local Position Measurement of Moving Robots System Using Stereo Measurement on the Uneven Floor

摘要

The stereo measurement has been used to identify the positions of a target object. In a general way of the stereo measurement by single robot, multiple cameras are used in which their position and posture are fixed. However, it is difficult to detect the object which is occluded by other objects, and is moving over a wide range. In this paper, we propose a novel method for measuring a mobile robot's relative position and posture. For the stereo measurement, it is required for robots to measure precisely informations about the distance between cameras, as well as the relative posture of the cameras. To hold their positional and posture informations, the robot was equipped with three identification markers and share the images taken by another robot. To confirm the effectiveness of the proposed method, we experiments the stereo measurement by real two robots on uneven floor.