1A1-D19 反復型重複部推定を用いた環境マップ位置合わせ手法の精度評価及び精度向上

抄録

For efficiency of the wide area exploration by a planetary rover, the composition of a global environment map is very important technic. Global map is composed by matching and overlapping terrain features of each Digital Elevation Map, measured by a rover during its traverse. However, each data contains information of different area, therefore those can be overlapped on small part which also has different missing part because of the occlusion problem and, as a result, it makes deterioration of the quality of global map. In this paper, global map generation method by iterating overlap-part estimation is discussed and evaluated by some experimental results, and finally improvement of matching accuracy is indicated.