誤差共分散行列の座標変換による影響の評価と可動部に固定のカメラによる自己位置推定精度向上のための手法

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): Effect of Coordinate Transformation on Error Covariance and a Method to Improve Accuracy of Self-localization with a Camera Fixed to a Movable Part

著者名: 宮城　秀康（（一社）ものづくりネットワーク沖縄）

著者名(英語): Hideyasu Miyagi (General Incorporated Association Monodukuri Network Okinawa)

キーワード: 自己位置推定，Unscented Kalmanフィルタ，座標変換，誤差共分散行列，ランドマーク，カメラ_x000D_　　self-localization，unscented Kalman filter，coordinate transformation，error covariance matrix，landmark，camera

要約(英語): A method of improving accuracy of UKF-based self-localization through the proper evaluation of error covariance matrices and its effect over improvement of self-localization of autonomous vehicles are suggested. First, error covariance matrices of spatial coordinate transformations defined as 1) an inverse of a coordinate transformation whose error covariance matrix is known, and 2) a synthesis of two coordinate transformations whose error covariance matrices are known, are derived. Second, a vehicle with a camera attached to a movable part favorable to landmark detection is presented. We demonstrate a case in which the accuracy of landmark-based self-localization of a vehicle is improved by using a camera fixed to a movable part that allows better tracking of landmarks, such as a steering rod of a micro-electric vehicle, if the error covariance matrices to be fed to UKF reflect the mechanical noise properly.

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: 147-154 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_147/_article/-char/ja/