Large-scale Map Building by a Mobile Robot Using High-dimensional Visual Sensors
| Project/Area Number |
21700221
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | University of Fukui |
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Principal Investigator |
TANAKA Kanji University of Fukui, 工学研究科, 准教授 (30325899)
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| Project Period (FY) |
2009 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2009: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Keywords | 行動環境認識 / SLAM / 地図生成 / 視覚センサ |
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| Research Abstract |
The problem of SLAM (simultaneous localization and mapping) has been approached from a novel perspective of "high-dimensional sensor" (e.g. visual sensor) in this study. Several building blocks of the novel technique, including a universal and compact landmark (visual feature), visual feature database, as well as "map-matching SLAM" have been developed, united into a novel framework and evaluated via experiments in both indoor and outdoor environments.
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Report
(3 results)
Research Products
(17 results)
