{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390021149548758272.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1299/jsmermd.2024.1a1-k07"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/jsmermd/2024/0/2024_1A1-K07/_pdf"}}],"dc:title":[{"@language":"en","@value":"Improvement of SLAM based on Potential Dynamic Objects by Using Instance Segmentation in Indoor Dynamic Environments"},{"@language":"ja","@value":"Instance Segmentationを利用した屋内の動的環境における潜在的動物体に基づくSLAMの改善"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"<p>In this paper, we improve a robust SLAM for dynamic environments by using object detection considering potential dynamic objects. Generally, dynamic environments have a negative impact on SLAM because correspondence between frames is wrong and constructed map includes ghosts. Conventional methods resolved this problem by predefining dynamic objects and removing them, however these cannot handle degenerate environments. Therefore, we define potential dynamic objects to increase the number of features as much as possible and to improve the problem of degeneracy that occurs in conventional methods. In this study, we use instance segmentation, which can detect objects more accurately at the pixel level, and verify its effectiveness.</p>"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410021149548758273","@type":"Researcher","foaf:name":[{"@language":"en","@value":"OSHIKUBO Yuhei"},{"@language":"ja","@value":"押久保 雄平"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"中央大学"},{"@language":"en","@value":"Chuo University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410021149548758272","@type":"Researcher","foaf:name":[{"@language":"en","@value":"PATHAK Sarthak"},{"@language":"ja","@value":"Sarthak Pathak"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"中央大学"},{"@language":"en","@value":"Chuo University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410021149548758274","@type":"Researcher","foaf:name":[{"@language":"en","@value":"JI Yonghoon"},{"@language":"ja","@value":"池 勇勳"}],"jpcoar:affiliationName":[{"@language":"en","@value":"JAIST"}]},{"@id":"https://cir.nii.ac.jp/crid/1410021149548758275","@type":"Researcher","foaf:name":[{"@language":"en","@value":"UMEDA Kazunori"},{"@language":"ja","@value":"梅田 和昇"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Chuo University"},{"@language":"ja","@value":"中央大学"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"24243124"}],"prism:publicationName":[{"@language":"ja","@value":"ロボティクス・メカトロニクス講演会講演概要集"},{"@language":"en","@value":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)"},{"@language":"en","@value":"Robomech"}],"dc:publisher":[{"@language":"en","@value":"The Japan Society of Mechanical Engineers"},{"@language":"ja","@value":"一般社団法人 日本機械学会"}],"prism:publicationDate":"2024","prism:volume":"2024","prism:number":"0","prism:startingPage":"1A1-K07"},"reviewed":"false","jpcoar:conferenceName":"ロボティクス・メカトロニクス　講演会2024","url":[{"@id":"https://www.jstage.jst.go.jp/article/jsmermd/2024/0/2024_1A1-K07/_pdf"}],"availableAt":"2024","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=SLAM","dc:title":"SLAM"},{"@id":"https://cir.nii.ac.jp/all?q=Object%20Detection","dc:title":"Object Detection"},{"@id":"https://cir.nii.ac.jp/all?q=Scan%20Matching","dc:title":"Scan Matching"},{"@id":"https://cir.nii.ac.jp/all?q=Mobile%20Robot","dc:title":"Mobile Robot"},{"@id":"https://cir.nii.ac.jp/all?q=SLAM","dc:title":"SLAM"},{"@id":"https://cir.nii.ac.jp/all?q=Object%20Detection","dc:title":"Object Detection"},{"@id":"https://cir.nii.ac.jp/all?q=Scan%20Matching","dc:title":"Scan Matching"},{"@id":"https://cir.nii.ac.jp/all?q=Mobile%20Robot","dc:title":"Mobile Robot"}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2013608413"},{"@type":"CROSSREF","@value":"10.1299/jsmermd.2024.1a1-k07"}]}