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 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