クロダ　ヨウジ   Kuroda Yoji   黒田　洋司    所属   明治大学  理工学部    職種   専任教授
発表年月日	2013/05/06
発表テーマ	Mobile robot localization using multiple observations based on place recognition and GPS
会議名	Robotics and Automation (ICRA), 2013 IEEE International Conference on
主催者	IEEE
学会区分	国際学会
発表形式	口頭（一般）
単独共同区分	共同
開催地名	Karlsruhe, Germany
発表者・共同発表者	Takato Saito, Yoji Kuroda
概要	n this paper, we propose a mobile robot localization system using multiple observations, which show the robot's global position. One of observations is GPS observation, the other is utilized an appearance based place recognition. Using GPS observations has still some challenging problems such as multipath and signal lost under the environments there is tall buildings nearby. It affects a significant error on localization. On the other hand, appearance based place recognition methods are efficient to recognize the robot's global position. It becomes possible to use a scene database with global position information. However, it could fail to function properly in natural environments like a lawn grass or trees in a park. We solve these demerits of each observations by using these multiple observations. Our system uses not only multiple observations but also dead reckoning with Gyrodometry model. As a result, the proposed localization system have achieved robust localization. To verify the validity of proposed method, our experiments using 1600m outdoor course in different seasons were conducted.
researchmap用URL	http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6630776