Considerations for SLAM Technology in Dynamic Underground Spaces

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Other Title
  • 動的な地下空間におけるSLAM技術に関する考察
  • -Optimal placement of markers-
  • ―マーカの最適配置―

Abstract

<p>The ultimate goal of this research is to estimate the self-position of an autonomous vehicle in an underground environment where GNSS cannot be used and environmental texture changes are poor.</p><p>We propose a method to find the optimal placement of markers. The placement of the markers is determined using a genetic algorithm. The evaluation values are considered as the area visible from the markers, the mutual distance between markers, and the variance of markers.</p>

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