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 |
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発表年月日 | 2013/12/15 |
発表テーマ | Mobile robot localization by GPS and sequential appearance-based place recognition |
会議名 | 2013 IEEE/SICE International Symposium on System Integration (SII) |
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 | Kobe, Japan |
発表者・共同発表者 | T. Saito and Y. Kuroda |
概要 | In this paper, we propose a mobile robot lo- calization by GPS observations and appearance-based place recognition. These are critical issues for achieving a high accu- racy and stable localization due to some challenging problems that GPS observations face still such as multipath and signal lost, especially under situations where there are narrow streets and so on. The appearance-based place recognition method that is combined with positional information has capability to overcome the issue. We apply both of observations derived from GPS and appearance-based place recognition 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 on a night. Our system uses not only multiple observations but also dead reckoning with gyrodometry model. To verify the validity of the proposed method, our experiment is conducted through an outdoor course. |
researchmap用URL | http://ieeexplore.ieee.org/document/6776624/ |