{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00233474","sets":["1164:2036:11466:11528"]},"path":["11528"],"owner":"44499","recid":"233474","title":["異種センサを搭載した地上走行ロボットと飛行ロボットによる協調SLAM"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-03-14"},"_buckets":{"deposit":"340b3148-e44c-46c4-8d5a-58471f240a11"},"_deposit":{"id":"233474","pid":{"type":"depid","value":"233474","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"異種センサを搭載した地上走行ロボットと飛行ロボットによる協調SLAM","author_link":["634258","634257","634255","634256"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"異種センサを搭載した地上走行ロボットと飛行ロボットによる協調SLAM"},{"subitem_title":"A Cooperative SLAM Method by Ground Robots and Aerial Vehicles with Heterogeneous Sensors","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"環境モニタリング応用","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-03-14","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","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/233474/files/IPSJ-SLDM24205043.pdf","label":"IPSJ-SLDM24205043.pdf"},"date":[{"dateType":"Available","dateValue":"2026-03-14"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-SLDM24205043.pdf","filesize":[{"value":"5.0 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":"10"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"15975fee-18a2-4b05-b1fb-278049329f59","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"田中, 晴亮"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"細合, 晋太郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中村, 宏"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高瀬, 英希"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11451459","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":"2188-8639","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"自律ロボットが人間の生活を支援する場面が急速に増加する中，ロボット等の自己位置と周辺地図を同時に推定する SLAM という技術が不可欠なものとして注目されている．特に複数のロボットが協調して行うものは Cooperative SLAM（C-SLAM）などと呼ばれ広く研究されているが，異なる特性を持つロボット間での C-SLAM には検討の余地がある．本研究では，移動形態とセンサ構成の両者が異なるロボット同士による C-SLAM の実現を目的とし，特に LiDAR を搭載した地上走行ロボットとステレオカメラのみを搭載した飛行ロボットの組を対象として C-SLAM 手法を提案する．本手法は両者共に LiDAR を用いる先行手法を拡張し，画像ベースの SLAM 手法を利用することで，LiDAR を搭載しているロボットと搭載していないロボットが同時に C-SLAM へ参加することを可能にする．さらに，提案手法を実装しデータセットを用いた動作検証を行った．一部のデータにおいて地上走行ロボットと飛行ロボットの間で同じ地点に到達することを検出できたが，処理に失敗している箇所があることが分かった．今後は実装上の課題を克服し，提案手法の有効性を定量的に評価する必要がある．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告システムとLSIの設計技術（SLDM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-03-14","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"43","bibliographicVolumeNumber":"2024-SLDM-205"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":233474,"updated":"2025-01-19T10:05:04.496957+00:00","links":{},"created":"2025-01-19T01:34:56.389053+00:00"}