{"updated":"2025-01-19T13:07:40.026164+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00224376","sets":["581:11107:11110"]},"path":["11110"],"owner":"44499","recid":"224376","title":["Vehicular Edge Computingにおける処理フレームレートを向上するためのEdge支援型SLAM"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-02-15"},"_buckets":{"deposit":"2274f4f4-a931-4458-80b6-7868b5737f23"},"_deposit":{"id":"224376","pid":{"type":"depid","value":"224376","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"Vehicular Edge Computingにおける処理フレームレートを向上するためのEdge支援型SLAM","author_link":["591538","591537","591532","591533","591531","591529","591534","591530","591536","591535"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Vehicular Edge Computingにおける処理フレームレートを向上するためのEdge支援型SLAM"},{"subitem_title":"Edge-assisted SLAM to Improve Processing Frame Rate in Vehicular Edge Computing","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"[特集:ネットワークサービスと分散処理] Vehicular Edge Computing（VEC），SLAM，車載計算資源，ネットワーク帯域幅","subitem_subject_scheme":"Other"}]},"item_type_id":"2","publish_date":"2023-02-15","item_2_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"慶應義塾大学大学院理工学研究科"},{"subitem_text_value":"慶應義塾大学大学院理工学研究科"},{"subitem_text_value":"慶應義塾大学理工学部情報工学科"},{"subitem_text_value":"慶應義塾大学大学院理工学研究科"},{"subitem_text_value":"慶應義塾大学大学院理工学研究科"}]},"item_2_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Science and Technology, Keio University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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/224376/files/IPSJ-JNL6402027.pdf","label":"IPSJ-JNL6402027.pdf"},"date":[{"dateType":"Available","dateValue":"2025-02-15"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-JNL6402027.pdf","filesize":[{"value":"2.5 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"8"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"2210800c-ec1f-4697-ac01-40f7167c026f","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_2_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"武藤, 晟"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"豊田, 睦"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"花輪, 麻衣奈"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"重野, 寛"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森, 康祐"}],"nameIdentifiers":[{}]}]},"item_2_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Akira, Muto","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Mutsumi, Toyoda","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Maina, Hanawa","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroshi, Shigeno","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"kosuke, Mori","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_2_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00116647","subitem_source_identifier_type":"NCID"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_6501","resourcetype":"journal article"}]},"item_2_publisher_15":{"attribute_name":"公開者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"item_2_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1882-7764","subitem_source_identifier_type":"ISSN"}]},"item_2_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"自律走行の実現を目指して，自己位置を正確に把握することや，自動車周辺をセンシングする自動車アプリケーションが開発されている．特に自己位置推定と環境地図作成を同時に実行するSLAM（Simultaneous Localization and Mapping）が注目を浴びている．既存手法ではSLAMをVehicular Edge Computing（VEC）で処理する研究がされている．しかし，既存のエッジサーバでのSLAM処理では限られた自動車の計算資源，V2I通信のネットワーク帯域幅を考慮できていないという問題点があり，ネットワーク帯域が乏しい環境では，処理フレームレートが低下してしまう．そこで，本論文では処理フレームレートの向上を目的とした，自動車の計算資源とV2I通信のネットワーク帯域幅を考慮したEdge支援型SLAMを提案する．提案手法のプロトタイプを実装し，性能評価を行う．動作確認の結果より，提案手法が自動車の計算資源とV2I通信のネットワーク帯域幅を効率的に利用し，精度に与える影響を最小化する非処理フレームの決定を行っていることを確認した．","subitem_description_type":"Other"}]},"item_2_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"A number of automotive applications have been developed to accurately determine self-position and to sense the surroundings of a vehicle in order to realize autonomous driving. In particular, SLAM (Simultaneous Localization and Mapping), which performs both self-positioning and environmental mapping simultaneously, has been attracting attention. In the related studies, SLAM is processed by Vehicular Edge Computing (VEC). However, the existing SLAM processing at the edge does not take into account the limited computational resources of the car and the network bandwidth for V2I communication, so the processing frame rate decreases. In this paper, we propose an edge-assisted SLAM that takes into account the computational resources of the car and the network bandwidth. We implement a prototype of the proposed method that shows the proposed method efficiently utilizes the computational resources of the car and the V2I network bandwidth, and determines the non-processed frames to minimize the impact on the accuracy.","subitem_description_type":"Other"}]},"item_2_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"536","bibliographic_titles":[{"bibliographic_title":"情報処理学会論文誌"}],"bibliographicPageStart":"529","bibliographicIssueDates":{"bibliographicIssueDate":"2023-02-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicVolumeNumber":"64"}]},"relation_version_is_last":true,"item_2_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.20729/00224267","subitem_identifier_reg_type":"JaLC"}]},"weko_creator_id":"44499"},"created":"2025-01-19T01:23:58.095577+00:00","id":224376,"links":{}}