- 清水彰一, 永橋知行, 酒井裕史, 藤吉弘亘
- 日本ロボット学会誌, vol. 27, no. 5, pp. 556–563, 2009
It is important to make its vision system more robust and accurate, to give optimal visual-feedback, which helps to control a robot. We propose a robust and accurate pattern matching method for simultaneously identifying robots and estimating their orientations that does not use color segmentation. To search for similar patterns, our approach uses continuous DP matching, which is obtained by scanning at an ellipse circumference from the center of the robot. The DP similarity value is used to identify object, and to obtain the optimal route by back tracing to estimate its orientation. We found that our system’s ability to identify objects was robust to variation in light conditions. This is because it can take advantage of the changes in intensity only.