公开(公告)号：JPH07116981A

公开(公告)日：1995-05-09

申请号：JP26664793

申请日：1993-10-25

Applicant: IBM

Inventor： ECHIGO TOMIO ,  ISHIKAWA SHIGEKI ,  ASAKA SHUNICHI ,  HAJIKI SHINICHIRO

IPC: B25J13/08 ,  B25J9/18 ,  G01S15/06 ,  G05D1/02 ,  G06T1/00 ,  H04N13/00 ,  G06T7/00

Abstract: PURPOSE: To safely and efficiently guide travel of a mobile robot based on environments obtained by plural different sensors. CONSTITUTION: A surface form of a subject is interpreted by a sonar interpretation part 28 using sonar data as distance information to the subject. The surface form of the subject is interpreted by a stereo interpretation part 30 using stereo data of three-dimensional information based on video signals from a stereo camera 12. A hypothesis generating part 32 generates a hypothesis for the form of the subject using an interpretation without geometrically having inconsistency based on an interpretation obtained from sensors, and it time-serially collates sensor data corresponding to the surface form of the hypothesis with actual sensor data using a table deciding priority to be put between the sonar data and stereo camera data based on the hypothesis to test the hypothesis. For movement of a mobile robot, the mobile robot is guided for avoiding action referring to a traveling passage and in accordance with the hypothesis related to current environments.