Page - 354 - in Intelligent Environments 2019 - Workshop Proceedings of the 15th International Conference on Intelligent Environments

Figure 2. Consistency Adjustment System. 4.1. Estimation of Travel Distance For estimating the moving distance, we use the sensor image and the distance to the wall measured by the laser rangefinder. The estimation method is shown in Fig. The thick line in Fig. 2 is the wall, the point on the wall is the common feature point, and θ is the direction of rotation from the wall. There are feature points common to each other in consecutive sensor images. Furthermore, we calculate the relative movement amount of the robot according to how far the feature point moves from the camera center. Also, by knowing the distance to the wall, it is possible to estimate the actual moving distance , of the robot. These calculations are based on function (1), (2), (3). Figure 3. Short caption. W.Takahashi etal. /UsingWi-FiSignals forCreatingaClustered ImageDatabase inUMap354