{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00218075","sets":["1164:3980:10839:10913"]},"path":["10913"],"owner":"44499","recid":"218075","title":["LiDARを使用した移動体の屋内位置推定手法の精度評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-05-19"},"_buckets":{"deposit":"aa50ea5f-3f39-4d82-9810-fb613d2b3d56"},"_deposit":{"id":"218075","pid":{"type":"depid","value":"218075","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"LiDARを使用した移動体の屋内位置推定手法の精度評価","author_link":["566304","566303","566301","566305","566300","566302","566306","566299"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"LiDARを使用した移動体の屋内位置推定手法の精度評価"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"測位・測距","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-05-19","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"早稲田大学基幹理工学研究科"},{"subitem_text_value":"早稲田大学理工学術院総合研究所"},{"subitem_text_value":"早稲田大学基幹理工学研究科"},{"subitem_text_value":"早稲田大学基幹理工学研究科／早稲田大学理工学術院総合研究所"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Faculty of Science and Engineering, Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda Research Institute for Science and Engineering","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Science and Engineering, Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Science and Engineering, Waseda University / Waseda Research Institute for Science and Engineering","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/218075/files/IPSJ-ITS22089027.pdf","label":"IPSJ-ITS22089027.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ITS22089027.pdf","filesize":[{"value":"1.5 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"37"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"2098bf1f-9d15-475c-9f67-75da75a3a64c","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":"二村, 美彩"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"金井, 謙治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"山本, 健人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"甲藤, 二郎"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Misa, Nimura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kenji, Kanai","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kento, Yamamoto","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Jiro, Katto","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11515904","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":"2188-8965","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，ロボットや自己位置推定およびマッピング（SLAM：Simultaneous Localization and Mapping）に関する技術の発展が目覚ましい．本稿では，そのロボット分野におけるソフトウェア開発のフレームワークで主流の Robot Operating System (ROS) と LiDAR センサを利用した SLAM による屋内位置推定システムのプロトタイプ実装およびその精度評価について報告する．屋内位置推定手法として，建物のフロア地図をグローバルマップと仮定し，SLAM によって生成されるマップとグローバルマップとのマッチングを行い，グローバルマップ上に現在地を投影する手法を検討する．筆者らが所属する早稲田大学のキャンパス内の建物の１フロアを利用し，屋内位置推定の精度検証を行い，本システムの有効性を明らかにする．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"In recent years, developments of robotic and Simultaneous Localization and Mapping (SLAM) technologies have been remarkably improved. In this paper, we report on a prototype implementation of indoor localization system using Robot Operating System (ROS) with LiDAR-based SLAM and its accuracy performance evaluation. The indoor location estimation method is to visualize a current position on a global map, like a building floor map, by matching between the global map and the local map generated by SLAM. To validates availability of the proposed system, we collect sensing data on a building floor at Waseda University and evaluate the accuracy of the proposed system.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告高度交通システムとスマートコミュニティ（ITS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-05-19","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"27","bibliographicVolumeNumber":"2022-ITS-89"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":218075,"updated":"2025-01-19T15:17:00.201375+00:00","links":{},"created":"2025-01-19T01:18:29.774243+00:00"}