{"id":213374,"created":"2025-01-19T01:14:15.399087+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00213374","sets":["6164:6165:7006:10727"]},"path":["10727"],"owner":"44499","recid":"213374","title":["SLAMのQoS要求を考慮した車両-エッジ間のトラフィック削減手法の提案"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-10-18"},"_buckets":{"deposit":"0be4503a-852d-4f20-9ca9-0b5767fc53e9"},"_deposit":{"id":"213374","pid":{"type":"depid","value":"213374","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"SLAMのQoS要求を考慮した車両-エッジ間のトラフィック削減手法の提案","author_link":["545869","545871","545872","545870"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"SLAMのQoS要求を考慮した車両-エッジ間のトラフィック削減手法の提案"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Vehicular Edge Computing, SLAM, Offloading","subitem_subject_scheme":"Other"}]},"item_type_id":"18","publish_date":"2021-10-18","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_18_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"慶應義塾大学理工学研究科"},{"subitem_text_value":"慶應義塾大学理工学研究科"},{"subitem_text_value":"慶應義塾大学理工学研究科"},{"subitem_text_value":"慶應義塾大学理工学研究科"}]},"item_18_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"}]},"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/213374/files/IPSJ-DPSWS2021021.pdf","label":"IPSJ-DPSWS2021021.pdf"},"date":[{"dateType":"Available","dateValue":"2023-10-18"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-DPSWS2021021.pdf","filesize":[{"value":"1.9 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"34"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"e1c7cbc4-fed9-4a3f-990b-76d4a0b3bea9","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_18_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"豊田, 睦"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"武藤, 晟"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"花輪, 麻衣奈"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"重野, 寛"}],"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_18_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"現在，IoV (Internet of Vehicle) の発展に伴い遅延に敏感な車両アプリケーションが開発されている．その中でも自律走行に要求される自己位置推定と環境地図作成を同時に実行する SLAM (Simultaneous Localization and Mapping) が注目を浴びている．既存のエッジコンピューティングを用いた SLAM の実行手法では，比較的計算量の大きいマッピングとループ閉じ込みをエッジサーバ側で実行し，トラッキングをクライアント側で実行する．しかし，既存手法では物理環境によらず固定周波でのマップ更新を実行するため，SLAM のトラッキング精度が低下したり，ネットワーク帯域を不必要に圧迫するという問題点がある．そこで，SLAM の QoS 要求を考慮した車両-エッジ間のトラフィック削減手法を提案する．トラフィックを削減する問題を整数計画問題として定式化し，近似アルゴリズムによって SLAM の精度を維持したままトラフィックの削減を目指す．SLAM の QoS 要求を制約に，物理環境を考慮した動的なマップ更新の決定を行う．近似アルゴリズムでは，車両の走行軌道を前 Key Fram との相対角度によって算出し，マップ更新の決定およびマップデータサイズの決定を前マップ更新からの経過時間，SLAM のトラッキングに要求される最低限のマップ更新から算出した．本研究では提案したトラフィック削減手法のプロトタイプを実装して実験を行い，動作確認と評価を行う予定である．","subitem_description_type":"Other"}]},"item_18_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"160","bibliographic_titles":[{"bibliographic_title":"第29回マルチメディア通信と分散処理ワークショップ論文集"}],"bibliographicPageStart":"155","bibliographicIssueDates":{"bibliographicIssueDate":"2021-10-18","bibliographicIssueDateType":"Issued"}}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T17:11:02.765474+00:00","links":{}}