{"links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00218215","sets":["1164:3616:10863:10936"]},"path":["10936"],"owner":"44499","recid":"218215","title":["自律移動ロボットの分岐路における意味論的領域分割に基づく方向転換"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-06-02"},"_buckets":{"deposit":"a841e471-f366-46e1-8c8c-600bd70dc45f"},"_deposit":{"id":"218215","pid":{"type":"depid","value":"218215","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"自律移動ロボットの分岐路における意味論的領域分割に基づく方向転換","author_link":["566961","566965","566966","566968","566957","566969","566963","566970","566956","566967","566959","566960","566964","566955","566962","566958"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"自律移動ロボットの分岐路における意味論的領域分割に基づく方向転換"}]},"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/218215/files/IPSJ-AVM22117005.pdf","label":"IPSJ-AVM22117005.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-AVM22117005.pdf","filesize":[{"value":"1.7 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"27"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"87cfc3d1-22c5-46d9-84d8-702c80f12594","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":"本多, 和史"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"斎藤, 康平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"須藤, 宏晃"}],"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":"Kazufumi, Honda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kohei, Saito","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroaki, Sudo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yuki, Yuda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yuriko, 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，意味論的領域分割の結果を積極的に用いたロボットのビジュアルナビゲーション手法の開発に取り組んでいる．この手法では固定量の旋回による方向転換を行っているため，分岐路に進入した際のロボットの方向によっては目的の道に向かって方向転換することができない．本稿では，Virtual LiDAR を用いた道の形状推定の結果を用いて進路を選択し，目標点の設定範囲をその進路内に限定することで分岐路において，従来の道なり走行と同様の手法で方向転換を行う手法を提案する．ロボットの実機による方向転換の実験を行った結果，分岐方向の道が入力画像内に写っている場合には目的の分岐方向へ進行することができるという結果が得られ，提案手法が有効であるということが示された．","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. The orientation control scheme of this approach performed well only when the angle of approach at junction is in the appropriate range, because a robot can only turn according to an angle defined prior to the start of movement. This paper proposed a novel scheme of orientation control at junctions using road-following based on a target point defined according to results of semantic segmentation and road selection considering the results of Virtual LiDAR. Experiments conducted at Ikuta Campus of the Meiji University using a real robot showed that the proposed scheme could make a turn at junctions accurately.","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":"5","bibliographicVolumeNumber":"2022-AVM-117"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:18:37.587771+00:00","updated":"2025-01-19T15:13:46.474915+00:00","id":218215}