{"created":"2025-01-19T01:17:15.134795+00:00","updated":"2025-01-19T15:45:12.822157+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00216735","sets":["1164:4061:10837:10838"]},"path":["10838"],"owner":"44499","recid":"216735","title":["IMUを用いた6自由度水中オドメトリシステムの基礎検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-02-28"},"_buckets":{"deposit":"d21a1c2d-5cac-41be-b9a0-43f7b0c41690"},"_deposit":{"id":"216735","pid":{"type":"depid","value":"216735","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"IMUを用いた6自由度水中オドメトリシステムの基礎検討","author_link":["560044","560045","560047","560046","560043"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"IMUを用いた6自由度水中オドメトリシステムの基礎検討"},{"subitem_title":"Basic study of a 6-DOF underwater odometry system using IMU","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"環境センシング","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-02-28","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"奈良先端科学技術大学院大学"},{"subitem_text_value":"奈良先端科学技術大学院大学"},{"subitem_text_value":"奈良先端科学技術大学院大学"},{"subitem_text_value":"龍谷大学"},{"subitem_text_value":"奈良先端科学技術大学院大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"NAIST","subitem_text_language":"en"},{"subitem_text_value":"NAIST","subitem_text_language":"en"},{"subitem_text_value":"NAIST","subitem_text_language":"en"},{"subitem_text_value":"Ryukoku University","subitem_text_language":"en"},{"subitem_text_value":"NAIST","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/216735/files/IPSJ-UBI22073019.pdf","label":"IPSJ-UBI22073019.pdf"},"date":[{"dateType":"Available","dateValue":"2024-02-28"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-UBI22073019.pdf","filesize":[{"value":"2.2 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清"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11838947","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":"2188-8698","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"水中における 6 自由度の位置姿勢推定は，ロボット制御や運動推定などの多岐に渡るシステムの基盤技術である．現状では，機器構成の煩雑さ，利用条件の制約，推定精度の低さなどに課題がある．本稿では，陸上で用いられる IMU オドメトリ技術の TLIO に着目し，水中での 6 自由度の位置姿勢推定が可能なシステムへと拡張する枠組みを提案する．TLIO は，機械学習に基づく手法であるため，水中での IMU オドメトリの位置姿勢の真値を計測する必要がある．そこで，水中の IMU データ計測システムとモーションキャプチャ用マーカを棒状の剛体で固定した治具を作製することで，水上でのマーカ追跡を実現する．さらに，マーカ追跡の結果に対し，水中の IMU データ計測システムの位置姿勢へと変換することで，水中オドメトリの真値を計測可能なシステムを提案する．この計測データに対して TLIO を適用することで，IMU のフレームレートで水中におけるオドメトリが算出可能となる．実験では，水中ドローンを用いた水中での動作，手で治具を動かして水中と水上を往来する水面付近での動作に対する精度検証を行った．その結果，前者が移動距離 19m に対して 17% の誤差，後者が移動距離 36m に対して 3.3% の誤差となった．学習データとテストデータの構築方法によって，精度のばらつきがあるものの，従来困難であった 6 自由度の運動推定を実現し，本システムの水中用オドメトリシステムとしての有効性を示した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告ユビキタスコンピューティングシステム（UBI）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-02-28","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"19","bibliographicVolumeNumber":"2022-UBI-73"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":216735,"links":{}}