{"created":"2025-01-19T00:48:45.982465+00:00","updated":"2025-01-20T04:42:41.289069+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00180971","sets":["6504:9168:9182"]},"path":["9182"],"owner":"6748","recid":"180971","title":["3次元点群に対する平面フィッティングによるSLAMシステムの精度向上"],"pubdate":{"attribute_name":"公開日","attribute_value":"2017-03-16"},"_buckets":{"deposit":"ac0d6fdf-2c32-4b8a-8b19-965e2d9227ff"},"_deposit":{"id":"180971","pid":{"type":"depid","value":"180971","revision_id":0},"owners":[6748],"status":"published","created_by":6748},"item_title":"3次元点群に対する平面フィッティングによるSLAMシステムの精度向上","author_link":["391460","391459","391461"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"3次元点群に対する平面フィッティングによるSLAMシステムの精度向上"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"人工知能と認知科学","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2017-03-16","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_22_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"慶大"},{"subitem_text_value":"慶大"},{"subitem_text_value":"慶大"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/180971/files/IPSJ-Z79-3P-05.pdf","label":"IPSJ-Z79-3P-05.pdf"},"date":[{"dateType":"Available","dateValue":"2017-05-22"}],"format":"application/pdf","filename":"IPSJ-Z79-3P-05.pdf","filesize":[{"value":"1.7 MB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"3efd5159-f7fa-45f9-8caa-f55992d84c50","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2017 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"小澤, 岳大"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中島, 由勝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"斎藤, 英雄"}],"nameIdentifiers":[{}]}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_22_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00349328","subitem_source_identifier_type":"NCID"}]},"item_22_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"本研究では，SLAMシステムにおいて，3次元点群に対する平面検出及びフィッティングを行った点群を入力し，平面フィッティングの有効性を示す．既存のRGB-Dカメラを用いたSLAMシステムは，3次元点群に乗るノイズによる影響を受け，3次元マップやカメラ軌跡の推定の精度が下がるという問題があった．本研究では，RGB-Dカメラから得られる3次元点群に対して，法線によるスーパーピクセルセグメンテーションを用いて平面を検出し，フィッティングを行った後，再び距離画像に変換する．それを既存の複数のSLAMシステムに入力し，カメラ軌跡の真値と推定値を比較することでその有効性を示す．","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"416","bibliographic_titles":[{"bibliographic_title":"第79回全国大会講演論文集"}],"bibliographicPageStart":"415","bibliographicIssueDates":{"bibliographicIssueDate":"2017-03-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2017"}]},"relation_version_is_last":true,"weko_creator_id":"6748"},"id":180971,"links":{}}