1A1-G03 屋外移動型ロボットにおける反復重複部推定と特徴点抽出を用いた地図生成システムの精度向上

概要

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The robot which can be active outdoors is demanded with a labor shortage and a declining birthrate and aging in recent years. A map of surrounding environment is necessary for autonomous run. As an acquisition system of a map, aline and align a filler the data which acquired during a run one by one, and use iterating overlappart estimation against the problem until now. It is important to a-line at first in using of iterating overlap-part estimation. In this paper, indicate we consider and suggest about accuracy progress in align a filler of scan matching, and adapt first align a filler of global map acquisition method by iterating overlap-part estimation. Align a filler in form comparison gives an error of usually territory in each data. Therefore we plan accuracy progress to extract only characteristic territory and do align a filler. Through we consider of characteristic point extraction.
2009-05-25