주행로봇을 위한 비젼 기반의 특징지도 작성 및 위치 결정 알고리즘에 관한 연구

초록

This paper considers the problem of navigating an unfamiliar environment in search of recognizable objects or visual landmarks. In order to extract and recognize them, a feature map is constructed with the records of the set of features continually updating a learning phase. The map contains photometric, geometric, and metric information of features. Meanwhile, the localization algorithm can determine the position of the robot by extracting features and matching in the map. These procedures are implemented and tested using an AMR, and preliminary results are presented in this paper.