| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of sharing an elevator with a human. SOLUTION: An autonomous mobile robot is provided with an image pick-up means 15 which photographs in the own traveling direction, and an image storage part 16 which stores an image of the inside of an elevator cage photographed by the image pick-up means 15. In addition, the robot is provided with a feature extraction arithmetic unit 17 which compares the image of the inside of the elevator cage photographed by the image pick-up means 15 with the image stored in the image storage part 16, and extracts a portion having a feature from the difference, and a feature region tracking arithmetic unit 18 which observes the change of the feature region by comparing an image arbitrary photographed with an image photographed most recently, thus tracking the feature region. A control part 10 decides whether the human has finished getting on or off from the changing state of the size and position of the feature region in the tracking of the feature region, and makes the robot perform the operation of getting on or off the elevator. COPYRIGHT: (C)2005,JPO&NCIPI
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