2017年8月1日
Development of autonomous navigation system using 3D map with geometric and semantic information
Journal of Robotics and Mechatronics
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- 巻
- 29
- 号
- 4
- 開始ページ
- 639
- 終了ページ
- 648
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.20965/jrm.2017.p0639
- 出版者・発行元
- Fuji Technology Press
This paper presents an autonomous navigation system. Our system is based on an accurate 3D map, which includes “geometric information” (e.g., curb, wall, street tree) and “semantic information” (e.g., sidewalk, roadway, crosswalk) extracted by environmental recognition. By using the semantic map, we can obtain the suitable area to keep away from un-desired places. Furthermore, by comparing the map with real-time 3D geometric information from LI-DAR, we obtain the robot position. To show the effectiveness of our system, we conduct a 3D semantic map construction experiment and driving test. The experiment results show that the proposed system enables accurate and highly reproducible localization and stable autonomous mobility.
- リンク情報
- ID情報
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- DOI : 10.20965/jrm.2017.p0639
- ISSN : 1883-8049
- ISSN : 0915-3942
- SCOPUS ID : 85028338308