History of Robotics Research and Development of Japan1999Integration, Intelligence, etc.Mobile Robot Navigation by a Distributed Vision System

Takushi Sogo	Department of Social Informatics, Kyoto University
Katsumi Kimoto	Department of Social Informatics, Kyoto University
Hiroshi Ishiguro	Department of Social Informatics, Kyoto University
Toru Ishida	Department of Social Informatics, Kyoto University

A general infrastructure for robot navigation in an outdoor environment is proposed. The infrastructure, called a Distributed Vision System, consists of vision agents connected with a computer network, monitors the environment, maintains the environment models, and provides various information for robots by organizing communication between the vision agents. As the first step of our research, we have developed a prototype of the distributed vision system for navigating mobile robots. The experimental results show that the system has an ability to navigate the robots in a complex environment. 15th RSJ Best Paper Award in 2001.

図1　分散視覚システム — Fig. 1 Distributed Vision System

図3　視覚エージェントの画像 — Fig. 3 Image of Vision Agent

図4　検出された道路領域 — Fig. 4 Detected Road Area

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