대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
- /
- Pages.317-318
- /
- 2007
이동로봇의 위치추정 성능개선을 위한 센서융합기법에 관한 연구
A Study on the Sensor Fusion Method to Improve Localization of a Mobile Robot
- 장철웅 (한국산업기술대학교 전자공학과) ;
- 정기호 (한국산업기술대학교 전자공학과) ;
-
공정식
(인하대학교 전자공학과)
;
-
장문석
(경기공업대학 자동화시스템과)
;
- 권오상 (경기공업대학) ;
-
이응혁
(한국산업기술대학교 전자공학과)
- Jang, Chul-Woong (Dept. of Electronic Engineering, Korea Polytechnic Univ.) ;
- Jung, Ki-Ho (Dept. of Electronic Engineering, Korea Polytechnic Univ.) ;
-
Kong, Jung-Shik
(Dept. of Electronic Engineering, Inha Univ.)
;
-
Jang, Mun-Suk
(Dept. of Automation System, Gyeonggi Institute of Technology)
;
- Kwon, Oh-Sang (Gyeonggi Institute of Technology) ;
-
Lee, Eung-Hyuk
(Dept. of Electronic Engineering, Korea Polytechnic Univ.)
- 발행 : 2007.10.26
초록
One of the important factors of the autonomous mobile robot is to build a map for surround environment and estimate its localization. This paper suggests a sensor fusion method of laser range finder and monocular vision sensor for the simultaneous localization and map building. The robot observes the comer points in the environment as features using the laser range finder, and extracts the SIFT algorithm with the monocular vision sensor. We verify the improved localization performance of the mobile robot from the experiment.
키워드