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	2012/12/16
発表テーマ	Localization independent of location based on place recognition and GPS observations
会議名	2012 IEEE/SICE International Symposium on System Integration (SII 2012)
主催者	IEEE/SICE
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	Fukuoka, Japan
発表者・共同発表者	T. Saito and Y. Kuroda
概要	In this research, we propose a mobile robot localization system using multiple observations, which show the robots global position. One of observations is GPS observations, another is utilized an appearance based place recognition. Using GPS observations faces still some challenging problems such as multipath and signal lost under the environments there is tall buildings nearby. These are critical issues for achieving a high accuracy and stable localization. On the other hand, appearance based place recognition methods are efficient to recognize the robot s global position. It becomes possible to use a scene database with global position information. However appearance based place recognition methods could fail to function properly in natural environments like a lawn grass or trees in a park. We solve these disadvantages of each observations by using these multiple observations. Our system uses not only multiple observations but also dead reckoning with Gyrodometry model. Therefore, proposed method localize a robot position robustly indoors or not. To verify the validity of proposed method, our experiments are conducted about 1600m outdoor course in different seasons and course through an indoor.
researchmap用URL	http://ieeexplore.ieee.org/document/6426958/