複数のスカイラインマッチングによる位置推定手法

―実環境における手法の初期検証―

抄録

This paper proposes a position estimation method for the rover using the horizon shape (skyline) as a landmark on extraterrestrial planets, where position estimation by odometry or Global Navigation Satellite System (GNSS) is difficult. The parent robot, which can accurately estimate its position, possesses the skyline information in environments, and the child robot estimates its position by comparing the observed skyline information with those that the parent robot possesses. Experiments were conducted in the Ura-Sabaku, Oshima Island and results showed that position estimation is possible by comparing skylines.