非水平箇所を含む屋内床面を移動するロボットのための2.5D地図作成技術

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2019/06/01

タイトル(英語): Generation of 2.5D Map for Mobile Robots on Indoor Floor with Non-Horizontal Partial Areas

著者名: 木村　宣隆（（株）日立製作所研究開発グループ），太田　順（東京大学人工物工学研究センター）

著者名(英語): Nobutaka Kimura (Research & Development Group, Hitachi, Ltd.), Jun Ota (Research into Artifacts, Center for Engineering, The University of Tokyo)

キーワード: 環境認識，自己位置推定，地図作成，2.5D地図，3D姿勢推定　　environment recognition，self-localization，map generation，2.5D map，3D orientation estimation

要約(英語): This paper proposes a method to generate a 2.5D map for an indoor environment with floors including non-horizontal partial areas by plotting the range data measured by a wheeled robot having two 2D range finders and a 3D gyroscope. For precise map generation, this method estimates the robot's 3D orientation by using not only the gyroscope but also the 2.5D map that are still being generated, and prevents the robot from adding erroneous floor concavities and convexities to the map by using the following two techniques. One technique detects and corrects the erroneous measurement of basic horizontal floors with a distance threshold related to the standard error of floor measurement. The other technique determines a 3D orientation estimation parameter to reduce the bad influence of erroneous floor concavities and convexities on the map. In experimental tests, it is verified that the 2.5D map generated by this method can be used for floor detection from range data captured by the robot on a small downhill slope.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.6 （2019） 特集：ビジネスシステムイノベーション

本誌掲載ページ: 732-744 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/139/6/139_732/_article/-char/ja/