DEVELOPMENT OF A SELF-POSITION RECOGNITION METHOD BY USING THE IMAGE PROCESSING AND 3D MODEL OF A WAREHOUSE FOR AUTOMATED GUIDED VEHICLE

摘要：

In this paper, we propose a self-position recognition method, which uses image processing and three-dimension al (3D) modeling, for improving the navigation of an automated guided vehicle (AGV) in a warehouse. In this rec ognition method, a viewpoint in the 3D model is determined such that the model image from that viewpoint corre sponds to the image captured by a particular camera. The AGV determines its self-position using the estimated view point. Furthermore, the effectiveness of the proposed self-position recognition method is demonstrated by the experi ments using a mobile robot system which is adapted the proposed self-position recognition method.

关键词： Image Processing Three dimensional model Self-position recognition Automated Guided Vehicle

作者: Masahiro Kameda Mitsuru Jindai Tomio Watanabeb Hideki Hase

作者单位: Graduate School of System Engineering, Okayama Prefectural University,111 Kuboki, Soja, Okayama, 719 Faculty of Computer Science and System Engineering, Okayama Prefectural University,111 Kuboki, Soja, Nippon Yusoki Co. , Ltd. , 2- 1 -1 Higashikotari, Nagaokakyo, Kyoto,617 -8585, Japan

会议类型: 国际会议

会议名称: The Ninth International Conference on Industrial Management(第九届工业管理国际会议 ICIM2008)

会议地点: 日本大阪

会议语种:英文

页码: 549-556

在线出版日期: 2008-09-16（万方平台首次上网日期，不代表论文的发表时间）