History of Robotics Research and Development of Japan1991SensingReconstructing Structure of an Indoor Environment Using Active Omni-Directional Vision

Hiroshi Ishiguro	University of Yamanashi
Masashi Yamamoto	Mazda Motor Co.
Saburo Tsuji	Osaka University

We discuss a method which reconstructs a global map of the indoor environment from omni-directional view obtained at several robot locations. The omni-directional view obtained by our method is a kind of environment representation, which has both precise angular information and range estimation from the observation point. The process to reconstruct the global map are as follows:

Obtaining Robot-Centered Representations (omni-directional views) at several robot locations for finding free areas in which the root can move.
Obtaining local maps, represented by Path-Centered coordinates, from omni-directional views taken at two neighbor robot locations. The relations between two neighbor robot locations are determined by active observations using feedbacks of the omni-directional views while the robot moves.
Building a global map (Environment-Centered Representation) by fusing those Path-Centered Representations.

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