Kuroda Yoji
Department Undergraduate School , School of Science and Technology Position Professor |
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Language | English |
Publication Date | 2017/08 |
Type | Academic Journal |
Peer Review | Peer reviewed |
Title | Development of Autonomous Navigation System Using 3D Map with Geometric and Semantic Information |
Contribution Type | Co-authored (other than first author) |
Journal | Journal of Robotics and Mechatronics |
Journal Type | Japan |
Publisher | JSME/Fuji Technology Press |
Volume, Issue, Page | 29(4),pp.639-648 |
Author and coauthor | Y. Aotani, T. Ienaga, N. Machinaka, Y. Sadakuni, R. Yamazaki, Y. Hosoda, R. Sawahashi, and Y. Kuroda |
Details | This paper presents an autonomous navigation system. Our system is based on an accurate 3D map, which includes "geometric information" (e.g., curb, wall, street tree) and "semantic information" (e.g., sidewalk, roadway, crosswalk) extracted by environmental recognition. By using the semantic map, we can obtain the suitable area to keep away from undesired places. Furthermore, by comparing the map with real-time 3D geometric information from LIDAR, we obtain the robot position. To show the effectiveness of our system, we conduct a 3D semantic map construction experiment and driving test. The experiment results show that the proposed system enables accurate and highly reproducible localization and stable autonomous mobility. |
URL for researchmap | https://www.fujipress.jp/jrm/rb/robot002900040639 |