박순용 박민용 박성기 2024-01-20T22:35:32Z 2024-01-20T22:35:32Z 2021-09-06 2008-09 1975-6291 https://pubs.kist.re.kr/handle/201004/133178 This paper describes a new method for indoor environment mapping and localization with stereo camera. For environmental modeling, we directly use the depth and color information in image pixels as visual features. Furthermore, only the depth and color information at horizontal centerline in image is used, where optical axis passes through. The usefulness of this method is that we can easily build a measure between modeling and sensing data only on the horizontal centerline. That is because vertical working volume between model and sensing data can be changed according to robot motion. Therefore, we can build a map about indoor environment as compact and efficient representation. Also, based on such nodes and sensing data, we suggest a method for estimating mobile robot positioning with random sampling stochastic algorithm. With basic real experiments, we show that the proposed method can be an effective visual navigation algorithm. Korean 한국로봇학회 스테레오 비전 센서의 깊이 및 색상 정보를 이용한 환경 모델링 기반의 이동로봇 주행기술 Direct Depth and Color-based Environment Modeling and Mobile Robot Navigation Article 2 로봇학회 논문지, v.3, no.3, pp.194 - 202 로봇학회 논문지 3 3 194 202 ART001417225 Vision-based navigation stereo vision direct method map building localization