SfMによって生成したARマーカー情報付き点群とORB-SLAMを用いた屋外自律飛行ドローンシステムの提案

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2021/02/01

タイトル(英語): Self-Localization of Outdoor Autonomous Flight Drone Using Point Cloud with AR Marker Information Generated using SfM and ORB-SLAM

著者名: 知念　響紀（沖縄工業高等専門学校），多田隈　光太朗（沖縄工業高等専門学校），當間　栄作（沖縄工業高等専門学校），タンスリヤボン　スリヨン（沖縄工業高等専門学校），姉崎　隆（沖縄工業高等専門学校）

著者名(英語): Hibiki Chinen (National Institute of Technogy, Okinawa College), Kotaro Tadakuma (National Institute of Technogy, Okinawa College), Eisaku Tohma (National Institute of Technogy, Okinawa College), Tansuriyavong Suriyon (National Institute of Technogy, Okin

キーワード: Drone統合ナビゲーション，密点群ORB-SLAM_x000D_　　integrated drone navigation system，use of ORB-SLAM with dense point clouds

要約(英語): Achieving practical and full-scale use of drones will require a transition from a first-person view (FPV) flight based on visual radio control to an autonomous wide-area, long-distance flight. However, technology that enables drones to fly autonomously over a wide area and long distances while feeding back positioning in ever-changing real-world environments is yet to be established. We aimed to develop a SLAM system that combines ORB-SLAM and dense point clouds in the environment. The result of an evaluation experiment of the developed SLAM system using a simulator indicated that the estimated self-position was corrected using matching with the dense point cloud, and a system combining ORB-SLAM and the dense point cloud was developed. It was confirmed that a SLAM system combining ORB-SLAM and some dense points in the environment could be developed. We have achieved good results in basic operation trials, demonstrating the potential of both systems for practical use.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.141 No.2 （2021）　特集：ドローンとロボット組み込み/サスティナブルシステム

本誌掲載ページ: 107-112 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/ieejias/141/2/141_107/_article/-char/ja/