6-4 地図作成・位置同定用コンポーネントの開発(第6部門実世界センシング)

抄録

This paper describes map-building and pose estimation component using laser sensor data matching. Features of our component are its robustness based on elimination of dense sensor data appeared to close obstacles, and handleability based on automatic mapping. Additionally, the repeatability of pose estimation achieved in the experiment was 10mm < 3σ.