{"id":240674,"links":{},"created":"2025-01-19T01:45:00.274021+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00240674","sets":["1164:2822:11469:11788"]},"path":["11788"],"owner":"44499","recid":"240674","title":["単眼深度推定と二値領域解析に基づく小型ドローンの障害物回避手法"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-11-13"},"_buckets":{"deposit":"edc70d1a-693c-4b56-b894-8e1b5514b081"},"_deposit":{"id":"240674","pid":{"type":"depid","value":"240674","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"単眼深度推定と二値領域解析に基づく小型ドローンの障害物回避手法","author_link":["660728","660729","660731","660730"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"単眼深度推定と二値領域解析に基づく小型ドローンの障害物回避手法"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"自動運転・ドローン","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-11-13","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":"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/240674/files/IPSJ-EMB24067016.pdf","label":"IPSJ-EMB24067016.pdf"},"date":[{"dateType":"Available","dateValue":"2026-11-13"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB24067016.pdf","filesize":[{"value":"388.5 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":"7b85f644-a2bd-4c8b-9061-58d907db5f20","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":"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，ドローンの需要はますます高まり，市場も拡大している．ドローンの主な応用分野には，物流，巡回警備，空撮，測量，農業，災害対応などが挙げられる．特に小型ドローン（重量 100 グラム未満）は，そのコンパクトさと高い機動性から，狭い屋内空間などでの飛行に適している．また，日本においては，改正航空法により 100 グラム以上のドローンの飛行には登録や許可が求められるため，産業界では小型ドローンの活用が期待されている．しかし，小型ドローンは重量の制約から高性能なセンサを搭載できないという課題がある．特に自律飛行を実現するためには，障害物との距離を測定する深度センサが必要であるが，多くの小型ドローンはこれを搭載できない．そこで本研究では，単眼カメラを用いた障害物回避手法を提案する．この手法では，単眼カメラの画像から単眼深度推定モデルを用いて深度画像を取得し，近くに障害物が存在する領域と存在しない領域に二値化する．次に障害物が存在しない領域に内接する面積最大の四角形を求め，その四角形の中心に向かって飛行することにより，障害物を回避する．本研究は，シミュレーション環境で回避性能を評価した結果，提案手法が既存の手法よりも優れた回避性能を示した．","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":"2024-11-13","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"16","bibliographicVolumeNumber":"2024-EMB-67"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T07:54:04.599630+00:00"}