書誌事項
- タイトル別名
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- 3D Monte Carlo localization using a depth camera and terrestrial laser scanner
- デプスカメラと地上型レーザスキャナを組み合わせた3次元Monte Carlo自己位置推定手法の開発
- デプスカメラ ト チジョウガタ レーザスキャナ オ クミアワセタ 3ジゲン Monte Carlo ジコ イチ スイテイ シュホウ ノ カイハツ
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抄録
<p>The purpose of this study is to improve an accuracy and efficiency of 6DOF motion estimation in 3D MCL for indoor localization. Firstly, a terrestrial laser scanner is used for creating a precise 3D mesh model as an environment map, and a professional-level depth camera is installed as an outer sensor. GPU scene simulation is also introduced to upgrade the speed of prediction phase in MCL. Moreover, for further improvement, GPGPU programming is implemented to realize further speed up of the likelihood estimation phase, and anisotropic particle propagation is introduced into MCL based on the observations from an inertia sensor. Improvements in the localization accuracy and efficiency are verified by the comparison with a previous MCL method. The results showed that our proposed 3D MCL method outperforms the previous one in accuracy and efficiency.</p>
収録刊行物
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- 写真測量とリモートセンシング
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写真測量とリモートセンシング 55 (4), 235-239, 2016
一般社団法人 日本写真測量学会
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詳細情報 詳細情報について
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- CRID
- 1390001204077681920
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- NII論文ID
- 130006038407
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- NII書誌ID
- AN00111450
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- ISSN
- 18839061
- 02855844
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- NDL書誌ID
- 027663573
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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
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可