{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:22:38Z","timestamp":1737264158038,"version":"3.33.0"},"reference-count":15,"publisher":"Wiley","issue":"11","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":6653,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems &amp;amp; Computers in Japan"],"published-print":{"date-parts":[[1989,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Important themes in research of autonomous mobile robots are recognition of environment and navigation planning. This paper describes the vision system of a mobile robot for recognizing the indoor environment. Line segments in the environment are found and their three\u2010dimensional (3\u2010D) positions are determined by using a binocular stereo method and a motion stereo method. It is difficult to acquire complete 3\u2010D information by a single observation from a point in space. Consequently, a series of observations is made at different points and, by combining the results, the 3\u2010D world model is updated successively. The indoor navigation of the robot is made by iterating the cooperative motion and observation. Correspondences of line segments among the observed images are established by using a competition matrix based on the similarity of segments. Based on the obtained incomplete 3\u2010D world model, the image viewed at the next point is predicted which makes the correspondence easier. In addition, the accurate motion of the robot is estimated, guided by the prediction of the image.<\/jats:p>","DOI":"10.1002\/scj.4690201105","type":"journal-article","created":{"date-parts":[[2007,7,7]],"date-time":"2007-07-07T17:30:32Z","timestamp":1183829432000},"page":"46-59","source":"Crossref","is-referenced-by-count":0,"title":["Successive environment perception using spatial matching by a mobile robot"],"prefix":"10.1002","volume":"20","author":[{"given":"Jiang Yu","family":"Zheng","sequence":"first","affiliation":[]},{"given":"Saburo","family":"Tsuji","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"S. A.Shafer A.Stentz andC. E.Thorpe.An architecture for sensor fusion in a mobile rotob. Proc. IEEE Conf. 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