e & i Elektrotechnik und Informationstechnik

, Volume 125, Issue 1–2, pp 25–32 | Cite as

Roboternavigation in Büros und Wohnungen

  • M. Vincze
  • S. Olufs
  • P. Einramhof
  • H. Wildenauer
Originalarbeit

Zusammenfassung

In diesem Artikel werden neue Entwicklungen gezeigt, die es mobilen Robotern ermöglichen sollen, in Büros und Wohnungen zu navigieren. Insbesondere wird demonstriert, dass der Einsatz eines vertikal montierten Stereokopfes die prinzipielle Zuverlässigkeit der Stereobilddatenverarbeitung erhöht und somit für diese Anwendungen besonders geeignet ist. Anschließend werden die Stereodaten verwendet, um die beiden wichtigsten Funktionen eines mobilen Roboters, die Hinderniserkennung und die Lokalisation im Raum, zu erreichen. Experimente in typischen Wohnumgebungen und einem großen Möbelhaus zeigen vielversprechende Ergebnisse im Genauigkeitsbereich von rund 10 cm. Dies ist für die meisten Anwendungen ausreichend, auch wenn für das Durchfahren von engen Türen noch Verbesserungen wünschenswert sind.

Schlüsselwörter

Serviceroboter Stereokamera Bildverarbeitung 

Robot navigation in offices and homes

Summary

This article presents developments for navigating robots in office and home environments. Specifically, it is demonstrated that the use of a vertically mounted stereo camera head improves the reliability of stereo data processing, which is particularly suited for these applications. The stereo data is then used to realize the two most important functions of a mobile robot, obstacle avoidance and localization in rooms. Experiments in typical home scenarios and in a large furniture warehouse show promising results and an accuracy in the range of 10 cm. This is sufficient for many home and office applications, even though for some cases as traversing doors further improvement is necessary.

Keywords

Service robotics Stereo camera Computer vision 

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Copyright information

© Springer-Verlag 2008

Authors and Affiliations

  • M. Vincze
    • 1
  • S. Olufs
    • 1
  • P. Einramhof
    • 1
  • H. Wildenauer
    • 1
  1. 1.Institut für Automatisierungs- und RegelungstechnikTechnische Universität WienWienAustria

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