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	2013/12/15
発表テーマ	Mobile robot localization by GPS and sequential appearance-based place recognition
会議名	2013 IEEE/SICE International Symposium on System Integration (SII)
主催者	IEEE/SICE
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	Kobe, Japan
発表者・共同発表者	T. Saito and Y. Kuroda
概要	In this paper, we propose a mobile robot lo- calization by GPS observations and appearance-based place recognition. These are critical issues for achieving a high accu- racy and stable localization due to some challenging problems that GPS observations face still such as multipath and signal lost, especially under situations where there are narrow streets and so on. The appearance-based place recognition method that is combined with positional information has capability to overcome the issue. We apply both of observations derived from GPS and appearance-based place recognition to a mobile robot localization for the sake of achieving robust localization. Moreover sequential appearance-based place recognition makes it possible to recognize their own position even when we navigate a robot on a night. Our system uses not only multiple observations but also dead reckoning with gyrodometry model. To verify the validity of the proposed method, our experiment is conducted through an outdoor course.
researchmap用URL	http://ieeexplore.ieee.org/document/6776624/