2012 Fiscal Year Final Research Report
New 3-D map construction method by fusion of humans, animals, and robot technology
| Project/Area Number |
23650079
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tohoku University |
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Principal Investigator |
OHNO Kazunori 東北大学, 未来科学技術共同研究センター, 准教授 (70379486)
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| Project Period (FY) |
2011 – 2012
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| Keywords | センサ融合・統合 / レスキューロボット / 位置推定 / 地図構築 |
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| Research Abstract |
We developed a dog mapping system for about 25kg dogs. Wearable measurement devices were designed by considering dog's body form and its motion. The dog's trajectory and pose are estimated by using Bayesian filtering. 3-D map was constructed from the trajectory and pose data and laser scanner data.
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