計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
GPSおよび連続画像をセンサ統合に用いた環境変動に頑強な自己位置推定
木内 健太郎横田 隆之齊藤 隆仁黒田 洋司
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ジャーナル フリー

2015 年 51 巻 1 号 p. 57-63

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In this paper, we propose a mobile robot localization system in frequent GPS-denied situations. We utilize multiple observations that are obtained from sequential appearance-based place recognition and GPS. Using GPS observations has still some challenging problems such as multipath or signal lost under environments where there are tall buildings nearby. The appearance-based place recognition that is combined with positional information has capability to overcome the issue. We apply both of observations derived from GPS and appearance-based place recognition to a mobile robot localization for the sake of achieving robust localization. Moreover sequential appearance-based place recognition makes it possible to recognize their own position even when we navigate a robot at night. Our system uses not only multiple observations but also dead reckoning with gyrodometry model. Our experiments are performed over aggregate 5300m trajectory approximately that contain a 1600m outdoor route in different seasons and at different times, and a 500m short-range route to verify its validity.

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© 2015 公益社団法人 計測自動制御学会
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