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