変分ベイズ法を用いた画像照合に基づく月面探査機の自己位置推定に関する研究
変分ベイズ法を用いた画像照合に基づく月面探査機の自己位置推定に関する研究
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: 2024/02/01
タイトル(英語): Study on Variational Bayesian Self-Localization of Lunar Lander Based on Image Matching
著者名: 丹治 寛樹(明治大学理工学部電気電子生命学科),宮嵜 隼人(明治大学理工学部電気電子生命学科),神田 達哉(明治大学理工学部電気電子生命学科),伊藤 充輝(明治大学理工学部電気電子生命学科),鎌田 弘之(明治大学理工学部電気電子生命学科)
著者名(英語): Hiroki Tanji (Graduate School of Science and Technology, Meiji University), Hayato Miyazaki (Graduate School of Science and Technology, Meiji University), Tatsuya Kanda (Graduate School of Science and Technology, Meiji University), Mitsuki Itoh (Graduate School of Science and Technology, Meiji University), Hiroyuki Kamata (Graduate School of Science and Technology, Meiji University)
キーワード: SLIMプロジェクト,画像照合,自己位置推定,ベイズ推定,変分ベイズ法 SLIM project,image matching,self-localization,Bayesian estimation,variational Bayesian method
要約(英語): As a part of the smart lander for investigating moon (SLIM) project, we are studying the method to estimate the three-dimensional position of the lander accurately. The conventional method based on image matching finds the correspondence between the known map and captured images using the local features detected from these images and then estimates the lander position by extracting essential local features. By adjusting the hyper-parameter appropriately, the conventional method shows an adequate estimation accuracy for the SLIM project. However, the conventional method is not robust against changes in map image and hyper-parameter value. As a robust estimation algorithm, we propose a Bayesian self-localization method that simultaneously estimates the three-dimensional position and the hyper-parameter according to the observed data. In this paper, we design a Bayesian model for self-localization by regarding the self-localization problem as a constrained optimization problem. Moreover, we derive the variational Bayesian algorithm for Bayesian estimation of the lander position. Our numerical simulations targeting two essential regions on the moon for the SLIM project demonstrate that the proposed and conventional method can adequately estimate the lander position and that the proposed method is more robust against changes in map image and hyper-parameter value.
本誌: 電気学会論文誌C(電子・情報・システム部門誌) Vol.144 No.2 (2024) 特集:ディジタル信号処理の基礎と応用
本誌掲載ページ: 110-120 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/144/2/144_110/_article/-char/ja/
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