物体間のレイアウト拘束を利用した地図構築の検討

抄録

The authors aim to build an autonomous system that works in factories and shopping malls. Objects layout are designed for supporting human activities in such environments. This paper proposes a method of SLAM using objects layout constrains. The proposed method improves the accuracy of the objects layout map by using the objects layout constraints. The function is verified using the simulation and the effectiveness is confirmed from the numerical evidences.