Local position measurement of moving robots system using stereo-camera method

We developed a mobile robot system equipped with a camera and an identification mark that it was possible for a position measurement by the stereo-camera method when a viewpoint changed freely. It is necessary to get distance between cameras and the relative posture of the camera precisely for the stereo-camera method measurement. The robot following a human being is easy to be affected by the obstacle to watch a human being indoors. Therefore the system of this study was able to expand the position measurement range by the stereo-camera method. In this report, we evaluated position measurement precision by this measurement method.