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The robots introduced in the excavation fields need to have the ability torecognize the environment around the robots and to move and work autonomously. In order to achieve this ability, the vision system is required in the robots. In this study, the vision system to estimate the self movement trajectory was investigated. At first, a simple method to judge the movement modes and to estimate the movement length and rotation angle was developed. The estimation is based on the location of two laser spots and single view image. Then, the experiments were carried out to confirm this method. By comparing the real trajectories and estimated ones by using images and laser spots, the agreement was observed to be good. This method could be applied to the natural environment including rocks and rock piles.

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Estimation of Movement Length and Rotation Angle in Self Movement Trajectories by Using Laser Spots and Images. Fundamental study on vision system for exploitation machines.