自律移動ロボットのロバストな位置推定に向けた環境地図の多重化

抄録

Localization is important for autonomous mobile robots. Since localization is performed by matching observation data with a map, it is necessary to have a map which appropriately reflects the environment. Environmental changes cause differences between the environment and the map, which break down localization. In this paper, we propose localization using multiple map for robust localization against environmental changes. In this experiment, we prepare four conditions that have a negative impact on the localization of the stereo camera. We build multiple maps on all conditions. We verify that the use of multiple maps may contribute to robust localization against environmental changes by comparing localization using single map and localization using multiple maps.