Experimental System for 2D Self-localization of Outdoor Mobile Robots for Automatically Inspecting Underground Infrastructure Facilities

This is the authors' abstract. We don't add key points for this paper.

For a robot to move several to dozens of meters, we have investigated a technique for measuring the true value and the robot position. To obtain the true value of the robot position, the establishment of an evaluation standard of the self-position estimation of an outdoor mobile robot is required. We have constructed the experimental system of position and posture measurement by using an augmented reality (AR) marker. Robot's self-position estimation have been evaluated through an experiment involving an outdoor mobile robot. In the experiments in an indoor environment, we confirmed that true-value measurement of several-millimeter resolution and the position and posture tracking of a moving object were possible. From the experiments in an outdoor environment, we confirmed the automatic detection of the AR marker with a resolution of 3[mm]. We also confirmed that such marker detection and tracking of the robot position are possible for all frames in the moving image.