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Generation of Large-size Maps by a Mobile Robot Using Low-Accuracy Sensors

Research Project

Project/Area Number 19700192
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionUniversity of Fukui (2008)
Kyushu University (2007)

Principal Investigator

TANAKA Kanji  University of Fukui, 大学院工学研究科, 准教授 (30325899)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,630,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥330,000)
Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2007: ¥2,200,000 (Direct Cost: ¥2,200,000)
Keywordsアルゴリズム / 画像 / 文章 / 音声等認識 / 情報システム / 知能ロボティクス / モデル化 / 画像、文章、音声等認識
Research Abstract

移動ロボットのリアルタイム地図学習(SLAM)問題に対し,低精度センサに有効な手法群を開発し,実用的な低精度RFIDセンサを用いた大規模地図生成システムを実現した.具体的には,まず,(1)低精度センサに有効なコンパクト・高速なSLAM手法(LSH-PF手法)を開発した.また,(2)地図全体誤差を低減する平滑化手法(グラフィカルSLAM手法)を開発した.さらに,(3)低精度・小規模な地図群を位置合せ・統合して大規模・高精度な地図を生成する「低精度センサSLAM手法」を開発した.

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (16 results)

All 2009 2008 2007

All Journal Article (7 results) (of which Peer Reviewed: 4 results) Presentation (7 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] 高次特徴地図のためのE2LSHに基づくモンテカルロ自己位置推定2009

    • Author(s)
      田中完爾
    • Journal Title

      92(1)

      Pages: 70-80

    • NAID

      110007380052

    • Related Report
      2008 Final Research Report
  • [Journal Article] A scalable algorithm for monte carlo localization using an incremental E2LSH-database of high dimensional features2008

    • Author(s)
      Kanji Tanaka, Eiji Kondo
    • Journal Title

      Proceedings of IEEE International Conference on robotics and automation 1

      Pages: 2784-2791

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] On the scalability of robot localization using high-dimensional features2008

    • Author(s)
      Takeshi Ueda, Kanji Tanaka
    • Journal Title

      Proceedings of IAPR International Conference on pattern recognition 1

      Pages: 1-4

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 高次特徴地図のためのE2LSHに基づくモンテカルロ自己位置推定2008

    • Author(s)
      田中完爾
    • Journal Title

      電子情報通信学会論文誌D 1

      Pages: 1-4

    • NAID

      110007380052

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Scalable Algorthm for Monte Carlo Localization Usting an Incremental E2LSH-Database of High Dimensional Features2008

    • Author(s)
      Kanji, Tanaka・Eiji, Kondo
    • Journal Title

      Proceedings of the 2008 IEEE Intematonal Conference on Robotics and Automation(掲載確定) (in press)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Supervised Learning Approach to Robot Localization Using a Short-Range RFID Sensor2007

    • Author(s)
      Kanji Tanaka, Yoshihiko Kimuro, Kentaro Yamano, Mitsuru Hirayama, Eiji Kondo and Michihito Matsumoto
    • Journal Title

      IEICE Trans. Information and Systems E90-D(11)

      Pages: 1762-1771

    • NAID

      110007541151

    • Related Report
      2008 Final Research Report
  • [Journal Article] オクルージョンを相対位置情報として用いた確率的な複数歩行者追跡2007

    • Author(s)
      田中完爾, 木室義彦, 岡田伸廣, 近藤英二
    • Journal Title

      日本機械学会論文集C編 73(29)

      Pages: 250-256

    • NAID

      110006279411

    • Related Report
      2008 Final Research Report
  • [Presentation] LSH-RANSAC : An incremental scheme for scalable localization2009

    • Author(s)
      Kenichi Saeki, Kanji Tanaka, Takeshi Ueda
    • Organizer
      IEEE Int. Conf. Robotics and Automation
    • Related Report
      2008 Final Research Report
  • [Presentation] Multiscan-based map optimizer for RFID map-building with low-accuracy measurements2008

    • Author(s)
      Kanji Tanaka
    • Organizer
      IAPR International Conference on pattern recognition
    • Place of Presentation
      Tampa, FL
    • Year and Date
      2008-12-08
    • Related Report
      2008 Annual Research Report
  • [Presentation] Multiscan-based map optimizer for RFID map-building with low-accuracy measurements2008

    • Author(s)
      Kanji Tanaka
    • Organizer
      IAPR Int. Conf. Pattern Recognition
    • Related Report
      2008 Final Research Report
  • [Presentation] On the scalability of robot localization using high-dimensional features2008

    • Author(s)
      Takeshi Ueda, Kanji Tanaka
    • Organizer
      IAPR Int. Conf. Pattern Recognition
    • Related Report
      2008 Final Research Report
  • [Presentation] A Scalable Algorithm for Monte Carlo Localization Using an Incremental E2LSH-Database of High Dimensional Features2008

    • Author(s)
      Kanji Tanaka, Eiji Kondo
    • Organizer
      IEEE Int. Conf. Robotics and Automation
    • Related Report
      2008 Final Research Report
  • [Presentation] 移動ロボットによるRFID環境の認識と自己位置推定2007

    • Author(s)
      山中郷平, 田中完爾, 岡田伸廣, 近藤英二
    • Organizer
      計測自動制御学会九州支部
    • Place of Presentation
      鹿児島大学
    • Year and Date
      2007-12-02
    • Related Report
      2007 Annual Research Report
  • [Presentation] Mobile robot mapping with geometrically inconsistent measurements in dynamic environments2007

    • Author(s)
      Kanji Tanaka, Eiji Kondo
    • Organizer
      SICE Annual Conference(1493-1500)
    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)]2009

    • Inventor(s)
      田中 完爾
    • Industrial Property Rights Holder
      福井大学
    • Industrial Property Number
      2009-114066
    • Filing Date
      2009-05-09
    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)] 特許2009

    • Inventor(s)
      田中完爾
    • Industrial Property Rights Holder
      福井大学
    • Industrial Property Number
      2009-114066
    • Filing Date
      2009-05-09
    • Related Report
      2008 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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