{"updated":"2025-01-19T08:54:51.938487+00:00","links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00237350","sets":["1164:2822:11469:11659"]},"path":["11659"],"owner":"44499","recid":"237350","title":["屋内環境における小型ドローンの自己位置推定の精度評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-07-12"},"_buckets":{"deposit":"fb3f42be-fb9e-4b01-9098-78fbd28ac2d7"},"_deposit":{"id":"237350","pid":{"type":"depid","value":"237350","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"屋内環境における小型ドローンの自己位置推定の精度評価","author_link":["649760","649761","649763","649759","649762"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"屋内環境における小型ドローンの自己位置推定の精度評価"}]},"item_type_id":"4","publish_date":"2024-07-12","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"立命館大学"},{"subitem_text_value":"立命館大学"},{"subitem_text_value":"大阪大学"},{"subitem_text_value":"富山県立大学"},{"subitem_text_value":"立命館大学"}]},"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/237350/files/IPSJ-EMB24066002.pdf","label":"IPSJ-EMB24066002.pdf"},"date":[{"dateType":"Available","dateValue":"2026-07-12"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB24066002.pdf","filesize":[{"value":"415.7 kB"}],"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":"f783acec-9cce-481f-953e-4715624d53c7","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":"東内, 元気"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"嶋田, 知泰"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"西川, 広記"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"孔, 祥博"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"冨山, 宏之"}],"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，ドローンは低コスト化と利便性の向上により警備，捜索救助，測量など様々な用途で利用されている．ドローンの自律飛行を実現するために，自己位置推定は不可欠な機能である．全地球測位システム（Global Positioning System）は屋外環境で有効であるが，屋内環境では信号遮断や乱反射により機能しない．また，狭い空間での機動性が求められる小型ドローンは，重量やコストの制約から搭載できるセンサに制限がある．本研究では，単眼カメラ画像を用いた小型ドローンの自己位置推定について評価する．具体的には，Visual Odometry を用いてドローンの自己位置推定を行う．推定に使用する画像フレーム数を変化させた場合の影響を分析することで，自己位置推定精度の向上の可能性を定量的に評価することを目指す．事前に設定した 3 種類の経路において，25 フレームの画像を使用したときの平均誤差は 89.17cm であることが分かった．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"2","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-07-12","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicVolumeNumber":"2024-EMB-66"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":237350,"created":"2025-01-19T01:39:55.983843+00:00"}