Generation of an environmental map is one of important tasks for robot navigation. We have proposed a method to generate a static environmental map and estimate the egomotion of a robot by using an omnidirectional image sensor, based on the assumption of unknown translational motions of the robot. However, since both robot and objects move in the environment, the map generation and the robot egomotion estimation by using a single camera are difficult because of ambiguity of correspondence caused by occlusion. In this paper, we improve our previous method for treating applicable to a dynamic environment. The method can detect a moving object and find occlusion and mismatching by evaluating estimation error of each objects location.
['Kouichi Syouya', 'Yasushi Yagi', 'Masahiko Yachida']
Environmental Map Generation and Egomotion Estimation in a Dynamic Environment for an Omnidirectional Image Sensor