208405 Self-position correction for autonomous robot using the line segments based on "Google Maps"

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  • 208405 Googleマップから取得した線分情報による屋外自律移動ロボットの自己位置修正(OS17 ロボティクス・メカトロニクス5,オーガナイズド・セッション)

Abstract

Position estimation by odometry has accumulated errors. Therefore, robots correct errors using landmarks. In this research, the landmarks are generated from map on "Google Maps". We propose the system of the position correction using the map acquired from "Google Maps". In this research, we assumed that landmarks are possible to be generated from the map. Based on this assumption, we developed the system of self-position correction by adopting "Monte Carlo localization".

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