@techreport{oai:ipsj.ixsq.nii.ac.jp:00053319,
 author = {斉藤, 英樹 and 笹木, 美樹男 and 金山, 幸礼 and 伊東正篤 and Hideki, Saito and Mikio, Sasaki and Yukihiro, Kanayama and Seitoku, Ito},
 issue = {87(1993-CVIM-085)},
 month = {Sep},
 note = {自律移動ロボットが停止時に対象物の位置姿勢を高精度に認識する手法として、対象物から既知の位置に特定図形を設置するマーカ方式に焦点をあて、その高速化とロバスト化について報告する。まず、自律移動ロボットの動作環境について述べた後に、シンプルな幾何形状を用いたマーカ方式の原理とその性能を解説し、従来方式と比較する。次にマーカの大きさ、形状、カメラ位置、測定精度等の影響を仮想FAルームと呼ぶグラフィクス環境でシミュレーションした結果を示す。最後に実機による検証結果を示す。, This paper focuses on the marker recognition method to estimate accurately the 3-D position and the 3-D attitude of the handling object for the autonomous mobile robot. Especially we will present a fast and robust localization for the hand-eye of the robot. Firstly, the robot environment is explained. Secondly, we will describe the principle and the performance of the marker recognition methods in which simple 2-D geometrically shaped markers are used, and will compare those with the conventional methods. The computational effects of the size and the shapes of the markers, camera position and measurement accuracy are wholly simulated in the graphics environment "virtual FA room". Finally the experimented results using the VME based image processing hardware and the real manipulator are shown to verify the performance of the presented algorithm.},
 title = {ハンドアイ用位置姿勢認識の高速化とロバスト化},
 year = {1993}
}