{"updated":"2025-01-21T12:40:37.550628+00:00","links":{},"id":98001,"created":"2025-01-18T23:44:20.140300+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00098001","sets":["1164:4619:7411:7409"]},"path":["7409"],"owner":"11","recid":"98001","title":["工場内巡回ロボットにおける広域実環境再構築システムのための自己位置回復手法"],"pubdate":{"attribute_name":"公開日","attribute_value":"2014-01-16"},"_buckets":{"deposit":"96f21ef9-aa60-41ba-bd3f-073ca7d1ece1"},"_deposit":{"id":"98001","pid":{"type":"depid","value":"98001","revision_id":0},"owners":[11],"status":"published","created_by":11},"item_title":"工場内巡回ロボットにおける広域実環境再構築システムのための自己位置回復手法","author_link":["0","0"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"工場内巡回ロボットにおける広域実環境再構築システムのための自己位置回復手法"},{"subitem_title":"Relocalization method of Real-time Wide-Area Reconstruction System Using RGB-D Camera for a Patrol Robot","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"2014-01-16","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科／大阪大学サイバーメディアセンター"},{"subitem_text_value":"大阪大学大学院情報科学研究科／大阪大学サイバーメディアセンター"},{"subitem_text_value":"大阪大学大学院情報科学研究科／大阪大学サイバーメディアセンター"},{"subitem_text_value":"ウエストユニティス(株)"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Information Science and Technology, Osaka University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Information Science and Technology, Osaka University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Information Science and Technology, Osaka University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Information Science and Technology, Osaka University / Cybermedia Center, Osaka University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Information Science and Technology, Osaka University / Cybermedia Center, Osaka University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Information Science and Technology, Osaka University / Cybermedia Center, Osaka University","subitem_text_language":"en"},{"subitem_text_value":"WestUnitis CO.LTD.","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 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アレクサンダー"},{"creatorName":"間下, 以大"},{"creatorName":"清川, 清"},{"creatorName":"竹村, 治雄"},{"creatorName":"福田, 登仁"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Tomoya, Furuichi","creatorNameLang":"en"},{"creatorName":"Tetsuro, Abe","creatorNameLang":"en"},{"creatorName":"Alexander, Plopski","creatorNameLang":"en"},{"creatorName":"Tomohiro, Mashita","creatorNameLang":"en"},{"creatorName":"Kiyoshi, Kiyokawa","creatorNameLang":"en"},{"creatorName":"Haruo, Takemura","creatorNameLang":"en"},{"creatorName":"Takahito, Fukuda","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11131797","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_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"我々は，工場内を巡回する移動ロボットに搭載することを前提とした RGB-D カメラを用いた広域実環境再構築システムについての研究開発を行なっている．広域実環境再構築システムは ICP アルゴリズムによるカメラ移動量推定を行うことでカメラ位置を把握し，実環境の再構築を行っている．しかし，カメラ移動量推定に失敗した場合，実環境再構築を続けることができない問題がある．カメラ移動量の推定の失敗は，カメラの前を人や障害物が横切るだけでも発生する可能性があるため，巡回ロボットが安定して稼働する上で大きな問題となる．本研究では，現実の三次元空間に対して，カメラの大まかな位置を求めることができる自己位置回復手法を提案する．この手法を用いることで，ICP アルゴリズムによるカメラ移動量推定を回復でき、実環境再構築を続行することが可能となる．本稿では，自己位置回復手法を実現する上での問題点を明らかにし，実装方針について述べる．また，試作システムを用いて実際に自己位置回復が行えることを確認した予備実験について述べる．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2014-01-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"34","bibliographicVolumeNumber":"2014-CVIM-190"}]},"relation_version_is_last":true,"weko_creator_id":"11"}}