Universal-Map: クラウド型位置推定インフラストラクチャシステムの提案

抄録

This manuscript proposes a novel localization method based on client-server model for an mobile robots and mobile devices such as smartphone. The localization process proceeds as matching calculation between a client sensing image and images in a 2D-image-database one by one. The 2D-database consists of massive amount of images with various viewpoints generated from 3D wireframe map. We explaine the concept of Universal Map system and the 2D-3D matching based localization method with some pilot experiments.