円筒マーカを利用した移動ロボットの自己位置推定

抄録

This paper proposes “cylindrical” markers and a self-localization algorithm with them for automatic driving mobilities where the GNSS is not available, such as underground parking facilities. A major advantage of the proposed markers is that the self-localization can be theoretically conveyed with only a single marker, and besides, they can provide a larger amount of information together with their wider visibility in contrast to the other ordinary markers.