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
言語種別	英語
発行・発表の年月	2017/08
形態種別	学術雑誌
査読	査読あり
標題	Development of Autonomous Navigation System Using 3D Map with Geometric and Semantic Information
執筆形態	共著(筆頭者以外)
掲載誌名	Journal of Robotics and Mechatronics
掲載区分	国内
出版社・発行元	JSME/Fuji Technology Press
巻・号・頁	29(4),pp.639-648
著者・共著者	Y. Aotani, T. Ienaga, N. Machinaka, Y. Sadakuni, R. Yamazaki, Y. Hosoda, R. Sawahashi, and Y. Kuroda
概要	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.
researchmap用URL	https://www.fujipress.jp/jrm/rb/robot002900040639