書誌事項
- タイトル別名
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- Cooperative Moving-object Tracking with Multiple Mobile Robots Equipped with Laser Scanner in GNSS-denied Environments
抄録
<p>This paper presents a laser-based tracking (estimation of pose and size) of moving objects using multiple mobile robots in outdoor GNSS-denied environments. Each robot is equipped with a multilayer laser scanner and detects moving objects, such as people, cars, and bicycles, in its own laser-scanned images by applying an occupancy-grid-based method. It then sends measurement information related to the moving objects to a central server. The central server estimates the objects' poses and sizes from the measurement information using Bayesian filter. To perform a reliable cooperative tracking, robots should accurately identify their relative pose. In the GNSS-denied environment, the relative pose is estimated by scan matching using laser measurements captured by nearby robots. Such cooperative scan matching is performed by 4-points-congruent-sets (4PCS)-based coarse registration and Iterative-closest-point (ICP)-based fine registration methods. The experimental results validate the proposed method.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2017 (0), 2A2-B09-, 2017
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680918272384
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- NII論文ID
- 130006221044
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可