2023 Fiscal Year Research-status Report
Domain adaptation and long-term maintenance of invisible maps to enable low-cost autonomous navigation of robots in urban environments
| Project/Area Number |
21K14121
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| Research Institution | Utsunomiya University |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2025-03-31
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| Keywords | 自律移動ロボット / 不可視地図 / ドメイン適応 |
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| Outline of Annual Research Achievements |
This year, all algorithms necessary to create invariant maps and long-term mapping have been finalized and tested. Using the robot platform and sensors developed, we have also built datasets composed of wireless signal strength, magnetic strength, lidar, and ground truth (pose of the robot). Datasets will be made available to the public to foster continued research efforts from the research community. Datasets include data acquired from the surroundings of Utsunomiya University, Tsukuba City, and large commercial complexes in Tokyo, Utsunomiya, Osaka, and Kanagawa; during the span of the whole project.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
Development and testing of algorithms to create invariant and long-term maps have been successfully finalized.
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| Strategy for Future Research Activity |
As development has been finalized, all further efforts will focus on additional testing and publication of results.
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| Causes of Carryover |
Incurring amount will be used for additional testing, participation in academic conferences for research result dissemination and other costs related to the publication of results.
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