{"updated":"2025-01-19T22:39:20.691144+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00196833","sets":["6504:9795:9801"]},"path":["9801"],"owner":"6748","recid":"196833","title":["RGB-D SLAMにおける鏡とガラスのマッピング手法の実装"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-02-28"},"_buckets":{"deposit":"3d44eeb0-3ba1-4339-9715-d362eccefeda"},"_deposit":{"id":"196833","pid":{"type":"depid","value":"196833","revision_id":0},"owners":[6748],"status":"published","created_by":6748},"item_title":"RGB-D SLAMにおける鏡とガラスのマッピング手法の実装","author_link":["471436","471437"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"RGB-D SLAMにおける鏡とガラスのマッピング手法の実装"}]},"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":"2019-02-28","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":"早大"},{"subitem_text_value":"早大"}]},"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/196833/files/IPSJ-Z81-7R-03.pdf","label":"IPSJ-Z81-7R-03.pdf"},"date":[{"dateType":"Available","dateValue":"2019-05-28"}],"format":"application/pdf","filename":"IPSJ-Z81-7R-03.pdf","filesize":[{"value":"939.4 kB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"8da4dbdd-941a-425e-a7c0-f95eddc5d5ed","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2019 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"青木, 系展"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"柳澤, 政生"}],"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":"本稿では，RGB-D SLAMにおいて従来の手法ではマッピングされない鏡やガラスを，超音波センサとLEDを用いることで検知及びマッピングを行う手法の実装について述べる．RGB-D SLAMはRGBカメラとDepthセンサを用いたVisual SLAM(Simultaneous Localization and Mapping) の一種であり，鏡や透明物体などのRGB画像内に特徴点を得られない物体に対してはマッピングすることが出来ない．また，赤外線を使用したDepthセンサにおいても物体表面での拡散反射が得られず測定が出来ない．そこで，カメラから既知の位置に存在するLEDの物体表面での鏡面反射を画像内に捉えることによって，鏡やガラスの鏡面の姿勢を推定する．また，本提案手法を実装することによって，実環境において本手法が有用であることを示す．","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"228","bibliographic_titles":[{"bibliographic_title":"第81回全国大会講演論文集"}],"bibliographicPageStart":"227","bibliographicIssueDates":{"bibliographicIssueDate":"2019-02-28","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2019"}]},"relation_version_is_last":true,"weko_creator_id":"6748"},"created":"2025-01-19T01:01:20.053332+00:00","id":196833,"links":{}}