{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00218214","sets":["1164:3616:10863:10936"]},"path":["10936"],"owner":"44499","recid":"218214","title":["SuperGlueに基づく都市環境におけるロボットの姿勢制御に関する研究"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-06-02"},"_buckets":{"deposit":"1424dc41-1bba-4338-a37a-35e09dfe93ce"},"_deposit":{"id":"218214","pid":{"type":"depid","value":"218214","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"SuperGlueに基づく都市環境におけるロボットの姿勢制御に関する研究","author_link":["566950","566940","566949","566951","566946","566944","566948","566952","566947","566943","566942","566939","566953","566941","566945","566954"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"SuperGlueに基づく都市環境におけるロボットの姿勢制御に関する研究"},{"subitem_title":"Control of an Autonomous Robot Based on SuperGlue in Urban Scenes","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"2022-06-02","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"明治大学大学院理工学研究科情報科学専攻"},{"subitem_text_value":"明治大学大学院理工学研究科情報科学専攻"},{"subitem_text_value":"明治大学大学院理工学研究科情報科学専攻"},{"subitem_text_value":"明治大学理工学部情報科学科"},{"subitem_text_value":"明治大学理工学部情報科学科"},{"subitem_text_value":"明治大学理工学部情報科学科"},{"subitem_text_value":"明治大学理工学部情報科学科"},{"subitem_text_value":"明治大学理工学部情報科学科"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Department of Computer Science, Graduate School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, Graduate School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, Graduate School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, School of Science and Technology, Meiji University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, School of Science and Technology, Meiji 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/218214/files/IPSJ-AVM22117004.pdf","label":"IPSJ-AVM22117004.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-AVM22117004.pdf","filesize":[{"value":"2.0 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"27"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"2d603a9b-7782-474e-a413-22b901352aad","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":"須藤, 宏晃"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"本多, 和史"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"斎藤, 康平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"湯田, 優希"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"上田, 有里子"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"和田, 真凜"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"安達, 美穂"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"宮本, 龍介"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Hiroaki, Sudo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kazufumi, Honda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kohei, Saito","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yuki, Yuda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yuri, Ueda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Marin, Wada","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Miho, Adachi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ryusuke, Miyamoto","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10438399","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":"2188-8582","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"著者の所属している研究室では，意味論的領域分割に基づき道なり走行と障害物回避を同時に行う自律走行手法を提案している，しかし，意味論的領域分割の結果のみでは，つくばチャレンジで必要となるタスクである，停止線の手前でのロボットの停止を行うことが困難である．その理由は，白線が細過ぎるために，領域分割では判別不可能だからである．そこで，本稿では，SuperGlue から得られる特徴点の対応付けを利用し，停止線までロボットを誘導する手法を提案する．この手法では事前に用意した参照画像と，ロボットの視点から得られる画像を比較することで画像間のズレを得る．そのズレからカメラの向きを推定し，ロボットの制御値として利用することで，停止タスクの実現を目指す．明治大学生田キャンパスにおける実ロボットを使った実験の結果，本手法の有効性が確認できた．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"We attempt to actualize a novel visual navigation scheme that strongly depends on results of semantic segmentation. However, this approach could not stop in front of the white line where a robot must stop at the Tsukuba Challenge Competition, because that line is too thin to be recognized by semantic segmentation. To solve this problem, this paper proposed a novel scheme to control a robot toward a stop line using the result of feature mathing by SuperGlue. Experiments conducted at Ikuta Campus of the Meiji University using a real robot showed that the proposed scheme could perform well.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告オーディオビジュアル複合情報処理（AVM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-06-02","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicVolumeNumber":"2022-AVM-117"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":218214,"updated":"2025-01-19T15:13:47.617025+00:00","links":{},"created":"2025-01-19T01:18:37.530009+00:00"}