日本のロボット研究の歩みHistory of Robotics Research and Development of Japan1991Sensing〈センシング〉パノラマ・全方位画像の解析と応用

石黒 浩山梨大学工学部
山本 雅史マツダ株式会社
辻 三郎大阪大学基礎工学部


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:
  1. Obtaining Robot-Centered Representations (omni-directional views) at several robot locations for finding free areas in which the root can move.
  2. 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.
  3. Building a global map (Environment-Centered Representation) by fusing those Path-Centered Representations.



石黒,山本,辻:能動的全方位視覚を用いた環境構造の復元, (PDF, 3.0MB)

日本ロボット学会誌,第9巻5号,pp.541-550, 1991.


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[2] 植田,石黒,辻: パノラマ表現を用いた観測点の位置決めにおける一手法, 電子情報通信学会論文誌 D-II,Vol. J75-D-2, No. 11,pp.1809-1817 1992.

[3] 宮下,石黒,辻: T-Net:実環境における正確なロボットの誘導と環境構造の獲得, 日本ロボット学会誌,第14巻7号,pp.1-8, 1996.

[4] 辻: 環境のパノラマ表現,電子情報通信学会誌,Vol. J74, No. 4,pp.354-359 1991.

[5] 李,辻: パノラマ表現内の3次元物体による経路シーンの記述,電子情報通信学会論文誌 D-II,Vol. J76-D-2, No. 10,pp.2177-2184 1993.