{"links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00225562","sets":["1164:2822:11181:11182"]},"path":["11182"],"owner":"44499","recid":"225562","title":["高精度地図データと重回帰分析を組み合わせた坂道の点群データのフィルタリング手法"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-16"},"_buckets":{"deposit":"4ca599b6-ece4-4e33-9732-aa8df285190d"},"_deposit":{"id":"225562","pid":{"type":"depid","value":"225562","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"高精度地図データと重回帰分析を組み合わせた坂道の点群データのフィルタリング手法","author_link":["597111","597113","597114","597112"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"高精度地図データと重回帰分析を組み合わせた坂道の点群データのフィルタリング手法"},{"subitem_title":"A Filtering Method for 3D Point Cloud on Sloped Terrains Using HD map & Multiple Regression Analysis","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2023-03-16","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"名古屋大学大学院情報学研究科"},{"subitem_text_value":"名古屋大学未来社会創造機構"},{"subitem_text_value":"名古屋大学未来社会創造機構"},{"subitem_text_value":"名古屋大学大学院情報学研究科／名古屋大学未来社会創造機構"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Informatics, Nagoya University","subitem_text_language":"en"},{"subitem_text_value":"Institutes of Innovation for Future Society, Nagoya University","subitem_text_language":"en"},{"subitem_text_value":"Institutes of Innovation for Future Society, Nagoya University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Informatics, Nagoya University / Institutes of Innovation for Future Society, Nagoya 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/225562/files/IPSJ-EMB23062055.pdf","label":"IPSJ-EMB23062055.pdf"},"date":[{"dateType":"Available","dateValue":"2025-03-16"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB23062055.pdf","filesize":[{"value":"3.3 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":"42"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"2039c3f7-a3d2-4ca1-83b9-40d68597af60","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"岡部, 太貴"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"山田, 峻也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"渡辺, 陽介"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高田, 広章"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12149313","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":"2188-868X","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，より安全で効率的な交通社会の実現に向けて，自動運転システムの研究が進んでいる．自動運転システムの開発における重要な要素のひとつに，環境認識がある．周辺環境認識を行う際に広く用いられるセンサはカメラと LiDAR が主流であるが，これらのセンサを坂道などの角度変化のある場所での障害物検出に用いる際にはいくつか問題がある．我々の研究グループでは，坂道に設置した LiDAR による障害物検知を目的として高精度地図データを組合せる手法の開発を行ってきた．高精度地図データに含まれる路面領域の座標や傾斜角等の情報により，空間内での坂道領域の判別精度が改善できた．しかし，高精度地図データにもわずかながら誤差が含まれており，それが小型の障害物に対しての見逃しの要因となりうることがわかってきた．そこで本研究では，高精度地図データと重回帰分析による補正を用いて，角度変化のある場所で得られる点群データにフィルタリングを行い，路面照射点等の点群を取り除き，障害物点群のみを取り出す手法を提案している．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-03-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"55","bibliographicVolumeNumber":"2023-EMB-62"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:25:04.173908+00:00","updated":"2025-01-19T12:46:06.392235+00:00","id":225562}