Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
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 TypeJapan
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