{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00215853","sets":["1164:3696:10766:10767"]},"path":["10767"],"owner":"44499","recid":"215853","title":["視覚障碍者の自律歩行支援を目的としたVisual-Inertial Odometryによるナビゲーションシステムの検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-01-13"},"_buckets":{"deposit":"5ff5d016-e03e-4ce6-beeb-93242a3c11b2"},"_deposit":{"id":"215853","pid":{"type":"depid","value":"215853","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"視覚障碍者の自律歩行支援を目的としたVisual-Inertial Odometryによるナビゲーションシステムの検討","author_link":["556201","556203","556202","556198","556200","556199"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"視覚障碍者の自律歩行支援を目的としたVisual-Inertial Odometryによるナビゲーションシステムの検討"},{"subitem_title":"Examination of navigation system by Visual-Inertial Odometry to support autonomous walking of visually impaired people","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"画像・視覚","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-01-13","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"千葉工業大学"},{"subitem_text_value":"千葉工業大学"},{"subitem_text_value":"千葉工業大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Chiba Institute of Technology","subitem_text_language":"en"},{"subitem_text_value":"Chiba Institute of Technology","subitem_text_language":"en"},{"subitem_text_value":"Chiba Institute of Technology","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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/215853/files/IPSJ-GN22115008.pdf","label":"IPSJ-GN22115008.pdf"},"date":[{"dateType":"Available","dateValue":"2024-01-13"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-GN22115008.pdf","filesize":[{"value":"1.6 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":"29"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"157890b2-8bbf-4e44-9aed-2456565b86b2","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"中込, 瑞大"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"羽生田, 浩貴"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森, 信一郎"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Mio, Nakagome","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroki, Hanyuda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Shinichiro, Mori","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA1155524X","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8744","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年では，点字ブロックのように視覚障碍者の移動の支援を目的とした設備の導入が広く行われてきている．一方で，大学構内のように，諸事情によりそうした設備を設置できない場所がある．そこでこの問題に対し，固定された構造物に設置した QR コードを撮影することによるキャリブレーションと，それによって得られた位置・姿勢情報を基にスマートフォンに搭載されたジャイロセンサ・加速度センサを用いた自律航法を利用した測位を行うことで利用者の位置及び方位を推定し，利用者を誘導するといった手法の検討を行ってきた．しかし，QR コードの向きや利用者の持つ端末の向きによって測位の精度が変化してしまうなどの問題があった．本研究ではこうした問題の解決のため，より高精度に測位が可能な VisualSLAM 技術を利用することを検討したが，特徴点の少ない廊下などで角を曲がった際に現在位置および姿勢をロストしてしまう問題があることが分かった．そこで，自律航法を組み合わせることで現在位置および姿勢のロストを防ぎ，継続的なナビゲーションを可能とするシステムの検討を行った．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"In recent years, equipment such as Braille blocks has been widely introduced for the purpose of supporting the movement of visually impaired people. On the other hand, there are places such as university campuses where such equipment cannot be installed due to various reasons. Therefore, to solve this problem, we used a gyro sensor / acceleration sensor mounted on a smartphone based on the calibration by shooting a QR code installed on a fixed structure and the position / attitude information obtained by the calibration. We have been studying methods such as estimating the position and facing of the user by performing positioning using autonomous navigation and guiding the user. However, there is a problem that the accuracy of positioning changes depending on the orientation of the QR code and the orientation of the terminal held by the user. In this research, in order to solve these problems, we considered using Visual SLAM technology, which enables more accurate positioning, but lost the current position and posture when turning a corner in a corridor with few feature points. It turns out that there is a problem that ends up. Therefore, we investigated a system that prevents the loss of the current position and attitude by combining autonomous navigation and enables continuous navigation.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告グループウェアとネットワークサービス（GN）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-01-13","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"8","bibliographicVolumeNumber":"2022-GN-115"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":215853,"updated":"2025-01-19T16:00:27.909942+00:00","links":{},"created":"2025-01-19T01:16:35.570227+00:00"}