移動体の自己位置推定におけるセンサ信頼度マップに基づくセンサ増設の有効性検証

抄録

The demand for autonomous mobiles is expanding due to the labor shortage caused by the declining birthrate and aging population, as well as the need to improve business efficiency. In a previous study, an outlier processing method for probabilistic position information calculated from multiple sensors was proposed as one of the methods for self-localization , which is an important element of autonomous mobile. In addition, as an application of the previous research, a ’reliability map’ was proposed to visualize the reliability of the localization in each region and to indicate the regions where the localization may fail. In this paper, we test the hypothesis that Robustness of self-localization can be improved by sensor expansion based on a ’reliability map’.