{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00216103","sets":["1164:1579:10818:10819"]},"path":["10819"],"owner":"44499","recid":"216103","title":["3次元Lidar SLAMにおける精度劣化を考慮した点群データ量削減"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-01-17"},"_buckets":{"deposit":"ba165fce-3f46-4f34-b3e2-a0fe51740fa7"},"_deposit":{"id":"216103","pid":{"type":"depid","value":"216103","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"3次元Lidar SLAMにおける精度劣化を考慮した点群データ量削減","author_link":["557443","557442","557438","557441","557440","557439"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"3次元Lidar SLAMにおける精度劣化を考慮した点群データ量削減"},{"subitem_title":"An Accuracy-Aware Data Size Reduction Method of 3D Lidar SLAM","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"アプリケーション","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-01-17","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"慶應義塾大学理工学部"},{"subitem_text_value":"慶應義塾大学大学院理工学研究科"},{"subitem_text_value":"慶應義塾大学理工学部/慶應義塾大学大学院理工学研究科 "}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Faculty 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":"Faculty of Science and Technology, Keio University / Graduate School of Science and Technology, Keio University","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/216103/files/IPSJ-ARC22247016.pdf","label":"IPSJ-ARC22247016.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC22247016.pdf","filesize":[{"value":"1.8 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"ecfaaad5-ec9c-4aad-aa7f-05347bc4a620","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Institute of Electronics, Information and Communication Engineers This SIG report is only available to those in membership of the SIG."}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"小島, 瑠斗"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"杉浦, 圭祐"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松谷, 宏紀"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Ryuto, Kojima","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Keisuke, Sugiura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroki, Matsutani","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10096105","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":"2188-8574","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"自動運転等に応用され,自己位置推定・環境地図作成を同時に行うLidar SLAM において点群は,アルゴリズムの根幹を成す重要なデータである.しかし点群はデータ量が非常に大きいため,多数のエッジが稼働する状況において全転送時のデータ量は膨大となる.本研究においては,代表的な 3 次元 Lidar SLAM アルゴリズムであるLOAM を対象とし,計算量が大きい最適化処理をサーバで行うと仮定した際の,エッジサーバ間の通信量削減に取り組む. 具体的には,LOAM のアルゴリズムの特性を鑑みて点群の加工・削減方法を複数,比較・検討する.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告システム・アーキテクチャ(ARC)"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-01-17","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"16","bibliographicVolumeNumber":"2022-ARC-247"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":216103,"updated":"2025-01-19T15:55:58.623193+00:00","links":{},"created":"2025-01-19T01:16:49.694190+00:00"}