{"id":217128,"updated":"2025-01-19T15:36:47.600325+00:00","links":{},"created":"2025-01-19T01:17:38.012651+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217128","sets":["1164:1579:10818:10892"]},"path":["10892"],"owner":"44499","recid":"217128","title":["ORB-SLAM3のローカルマッピングの並列化とコア割り当て手法の提案"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"3cc8ba76-69de-401c-a39a-960e7b204a76"},"_deposit":{"id":"217128","pid":{"type":"depid","value":"217128","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"ORB-SLAM3のローカルマッピングの並列化とコア割り当て手法の提案","author_link":["561914","561913","561902","561908","561912","561900","561903","561909","561907","561901","561917","561904","561906","561916","561910","561905","561921","561911","561915","561920","561918","561919"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ORB-SLAM3のローカルマッピングの並列化とコア割り当て手法の提案"},{"subitem_title":"LocalMapping Parallelization and CPU Allocation Method on ORB-SLAM3","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":"2022-03-03","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"オスカーテクノロジー株式会社"},{"subitem_text_value":"オスカーテクノロジー株式会社"},{"subitem_text_value":"株式会社エヌエスアイテクス"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Oscar Technology Corporation","subitem_text_language":"en"},{"subitem_text_value":"Oscar Technology Corporation","subitem_text_language":"en"},{"subitem_text_value":"NSITEXE,Inc.","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda 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/217128/files/IPSJ-ARC22248040.pdf","label":"IPSJ-ARC22248040.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC22248040.pdf","filesize":[{"value":"1.9 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"a3b24a6b-5dd2-4606-a38f-1bc42fe1e56a","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":"山本, 一貴"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"長ヶ部, 拓吾"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小池, 穂乃花"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"川角, 冬馬"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"藤田, 一輝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"北村, 俊明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"川島, 慧大"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"納富, 昭"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"木村, 貞弘"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"木村, 啓二"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"笠原, 博徳"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Kazuki, Yamamoto","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takugo, Osakabe","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Honoka, Koike","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tohma, Kawasumi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kazuki, Fujita","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Toshiaki, Kitamura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Akihiro, Kawashima","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Akira, Nodomi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Sadahiro, Kimura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Keiji, Kimura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hironori, Kasahara","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":"ロボットや自動車の自律制御のために，周囲の情報から環境地図を作成し自己位置を推定する SLAM （Simultaneous Localization and Mapping）処理が必要とされる．SLAM は主にトラッキング，ローカルマッピング，ループグロージングの 3 つの処理から構成される．このうちローカルマッピングは，実行コストが大きい一方，疎行列やグラフ構造などを扱うことから効率の良い並列化が難しい．そのため本稿では，オープンソースの SLAM 実装である ORB-SLAM3 を対象として，データ構造の特徴を生かした並列化方法を提案する．またトラッキングの特徴点抽出処理も合わせて並列化した場合，発生する多くのスレッドができるだけ同一コアで競合しないような割り当て手法を報 告する．これらの提案手法を適用して両処理を並列化したところ，Intel サーバ上ではトラッキングで 1.40 倍，ローカルマッピングで 1.35 倍の速度向上が同時に得られた．また，NVIDIA Jetson 上でも，トラッキングで 1.22 倍，ローカルマッピングで 1.26 倍の速度向上が得られ，提案手法がコア数の少ない組込み環境にも有効であることが確認できた．","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":"2022-03-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"40","bibliographicVolumeNumber":"2022-ARC-248"}]},"relation_version_is_last":true,"weko_creator_id":"44499"}}