論文

査読有り
2014年

Visibility Analysis for Autonomous Vehicle Comfortable Navigation

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
  • Yoichi Morales
  • ,
  • Jani Even
  • ,
  • Nagasrikanth Kallakuri
  • ,
  • Tetsushi Ikeda
  • ,
  • Kazuhiko Shinozawa
  • ,
  • Tadahisa Kondo
  • ,
  • Norihiro Hagita

開始ページ
2197
終了ページ
2202
記述言語
英語
掲載種別
研究論文(国際会議プロシーディングス)
DOI
10.1109/ICRA.2014.6907162
出版者・発行元
IEEE

This work introduces a 3D visibility model for comfortable autonomous vehicles. The model computes a visibility index based on the pose of the wheelchair within the environment. We correlate this index with human navigational comfort (discomfort) and we discuss the importance of modeling visibility to improve human riding comfort. The proposed approach models the 3D visual field of view combined with a two-layered environmental representation. The field of view is modeled with information from the pose of the robot, a 3D laser sensor and a two-layered environmental representation composed of a 3D geometric map with traversale area information. Human navigational discomfort was extracted from participants riding the autonomous wheelchair. Results show that there is fair correlation between poor visibility locations (e.g., blind corners) and human discomfort. The approach can model places with identical traversable characteristics but different visibility and it differentiates visibility characteristics according to traveling direction.

リンク情報
DOI
https://doi.org/10.1109/ICRA.2014.6907162
DBLP
https://dblp.uni-trier.de/rec/conf/icra/MoralesEKISKH14
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000377221102040&DestApp=WOS_CPL
URL
http://dblp.uni-trier.de/db/conf/icra/icra2014.html#conf/icra/MoralesEKISKH14
ID情報
  • DOI : 10.1109/ICRA.2014.6907162
  • ISSN : 1050-4729
  • DBLP ID : conf/icra/MoralesEKISKH14
  • Web of Science ID : WOS:000377221102040

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