2020 Fiscal Year Final Research Report
Toward partner mobility vehicles
| Project/Area Number |
18K18072
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 61010:Perceptual information processing-related
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
Oishi Shuji 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究員 (30759618)
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| Project Period (FY) |
2018-04-01 – 2021-03-31
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| Keywords | Localization / Navigation / Pedestrian detection / SLAM |
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| Outline of Final Research Achievements |
Whereas personal mobility vehicles have great merits as a means of personal transportation in our daily lives, various functions are required to make them autonomous in the real world.
In this research, we have developed technologies for the widespread use of autonomous personal mobility.
Specifically, we have studied 3D reconstruction and localization with a monocular camera, 3D mapping with a LiDAR, pedestrian detection and social path planning, and driving support system using a force-feedback joystick.
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| Free Research Field |
ロボットビジョン
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| Academic Significance and Societal Importance of the Research Achievements |
安全なパーソナルモビリティの開発には，自律化や運転補助のための高度な知能化が鍵となる一方，普及に向けたセンサコストの低減も重要な課題となる．本研究では，単眼カメラのような簡素なセンサを主とする，高精度・高頑健性な自己位置同定や3次元環境復元手法の開発を行い，自律モビリティの基礎となる機能を実現した．また，インフラとしての広域3次元地図生成や，人との関係を考慮した移動計画・操縦インタフェースにも取り組み，人の移動を支援するパーソナルモビリティの導入に向けた技術開発を行った．
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