Showing papers by "Masahiro Tomono published in 2000"
24 Apr 2000
TL;DR: A robot system for navigation in unknown environments, in which the robot navigates itself to the room designated by room number, and utilizes the model for the efficient recognition of the objects and the estimation of their positions.
Abstract: Navigation in unknown environments requires the robot to obtain the destination positions without a map. The utilization of model-based object recognition would be a solution, where the robot can estimate the destination positions from geometric relationships between the recognized objects and the robot. This paper presents a robot system for this kind of navigation, in which the robot navigates itself to the room designated by room number. The robot has an environment model including a corridor and a door with a room number plate, and utilizes the model for the efficient recognition of the objects and the estimation of their positions.
34 citations
31 Oct 2000
TL;DR: This paper proposes a framework of indoor navigation based on a partially quantitative map, which comprises the models of geometric entities in the environment, the locations of which are partially defined.
Abstract: A geometric map which quantitatively represents the locations of entities in the environment are widely employed for indoor navigation. Navigation based on a geometric map provides high accuracy in positioning, but making an accurate map for a large area is difficult. To cope with this problem, this paper proposes a framework of indoor navigation based on a partially quantitative map. The map comprises the models of geometric entities in the environment, the locations of which are partially defined. Using the partial information, the robot searches and recognizes entities as a landmark while navigating in the environment.
4 citations