Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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2D Map generation Using Omnidirectional Image sensor and Stereo Vision for MobileRobot MAIRO

자율이동로봇MAIRO의 전방향 이미지센서와 스테레오 비전 시스템을 이용한 2차원 지도 생성

  • Kim, Kyung-Ho (Dept. of Digital Information Engineering, Hankuk University of Foreign Studies) ;
  • Lee, Hyung-Kyu (Dept. of Information and Telecommunication Engineering, Sungkyunkwan University) ;
  • Son, Young-Jun (Intelligent System Research Lab, School of Electrical Engineering, Korea University) ;
  • Song, Jae-Keun (Dept. of Electronic Engineering, Incheon University)
  • 김경호 (한국외국어대학교 디지털정보공학과) ;
  • 이형규 (성균관대학교 정보통신공학부) ;
  • 손영준 (고려대학교 대학원 전기공학과) ;
  • 송재근 (인천대학교 전자공학과)
  • Published : 2002.11.30
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Abstract

Recently, a service robot industry outstands as an up and coming industry of the next generation. Specially, there are so many research in self-steering movement(SSM). In order to implement SSM, robot must effectively recognize all around, detect objects and make a surrounding map with sensors. So, many robots have a sonar and a infrared sensor, etc. But, in these sensors, We only know informations about between the robot and the object as well as resolution faculty is of inferior quality. In this paper, we will introduce new algorithm that recognizes objects around robot and makes a two dimension surrounding map with a omni-direction vision camera and two stereo vision cameras.

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