| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2015: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Outline of Final Research Achievements |
In order to detect invariant features from multiple three dimensional data acquired under the outdoor environment, we conducted experiments using three kinds of cameras with different characteristics. As a result of investigating various conditions necessary for detecting the invariant feature, it was found that it can be used as a useful invariant feature by adjusting the generation parameters of such invariant feature which was previously proposed.
As a preparation method of robustly stitching mltiple three-dimensional data, we proposed a measure representing its shape of two-dimensional range data. We also proposed a method for robustly stitching multiple two-dimensional range data, which uses the measure to decide whether to include useful shape features of the environment in the two-dimensional range data and has our SVM classifier learn to conduct such judgement.
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