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

2008 Fiscal Year Final Research Report

• Project/Area Number: 19700192
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: University 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
• 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

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.

Research Products

• [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
• [Journal Article] A Supervised Learning Approach to Robot Localization Using a Short-Range RFID Sensor (2007)
  • 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
• [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
• [Presentation] LSH-RANSAC : An incremental scheme for scalable localization (2009)
  • Author(s): Kenichi Saeki, Kanji Tanaka, Takeshi Ueda
  • Organizer: IEEE Int. Conf. Robotics and Automation
  • Year and Date: 20090000
• [Presentation] Multiscan-based map optimizer for RFID map-building with low-accuracy measurements (2008)
  • Author(s): Kanji Tanaka
  • Organizer: IAPR Int. Conf. Pattern Recognition
  • Year and Date: 20080000
• [Presentation] On the scalability of robot localization using high-dimensional features (2008)
  • Author(s): Takeshi Ueda, Kanji Tanaka
  • Organizer: IAPR Int. Conf. Pattern Recognition
  • Year and Date: 20080000
• [Presentation] A Scalable Algorithm for Monte Carlo Localization Using an Incremental E2LSH-Database of High Dimensional Features (2008)
  • Author(s): Kanji Tanaka, Eiji Kondo
  • Organizer: IEEE Int. Conf. Robotics and Automation
  • Year and Date: 20080000
• [Presentation] Mobile robot mapping with geometrically inconsistent measurements in dynamic environments (2007)
  • Author(s): Kanji Tanaka, Eiji Kondo
  • Organizer: SICE Annual Conference(1493-1500)
  • Year and Date: 20070000
• [Patent(Industrial Property Rights)] (2009)
  • Inventor(s): 田中 完爾
  • Industrial Property Rights Holder: 福井大学
  • Industrial Property Number: 特願2009-114066
  • Filing Date: 2009-05-09