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	2014/05/31
発表テーマ	Mobile Robot Localization System in Frequent GPS-denied Situations
会議名	2014 IEEE International Conference on Robotics & Automation (ICRA)
主催者	IEEE
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	Hong Kong, China
発表者・共同発表者	Takato Saito, Kentaro Kiuchi and Yoji Kuroda
概要	In this paper, we propose a mobile robot localiza- tion system in frequent GPS-denied situations. We utilize multi- ple observations that are obtained from sequential appearance- based place recognition and GPS. Using GPS observations has still some challenging problems such as multipath or signal lost under environments where there are tall buildings nearby. The appearance-based place recognition that is combined with positional information has capability to overcome the issue. Nevertheless, GPS observations which are obtained in the situ- ation sometimes have better quality (e.g. Precision or accuracy) than positional information from the place recognition because those coordinates always have some errors. We apply both of observations 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 at night. Our system uses not only multiple observations but also dead reckoning with the gyrodometry model. Our experiments are performed over aggregate 5300 m trajectory approximately that contains three times trials through a 1600 m outdoor route in different seasons and at different times, and once trail through a 500 m short-range route to verify its validity.
researchmap用URL	http://ieeexplore.ieee.org/document/6907431/