Development of Autonomous Navigation System Using 3D Map with Geometric and Semantic Information
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- Aotani Yoshihiro
- Meiji University
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- Ienaga Takashi
- Meiji University
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- Machinaka Noriaki
- Meiji University
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- Sadakuni Yudai
- Meiji University
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- Yamazaki Ryota
- Meiji University
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- Hosoda Yuki
- Meiji University
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- Sawahashi Ryota
- Meiji University
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- Kuroda Yoji
- Meiji University
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Description
<p>This paper presents an autonomous navigation system. Our system is based on an accurate 3D map, which includes “geometric information” (e.g., curb, wall, street tree) and “semantic information” (e.g., sidewalk, roadway, crosswalk) extracted by environmental recognition. By using the semantic map, we can obtain the suitable area to keep away from undesired places. Furthermore, by comparing the map with real-time 3D geometric information from LIDAR, we obtain the robot position. To show the effectiveness of our system, we conduct a 3D semantic map construction experiment and driving test. The experiment results show that the proposed system enables accurate and highly reproducible localization and stable autonomous mobility.</p>
Journal
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 29 (4), 639-648, 2017-08-20
Fuji Technology Press Ltd.
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Details 詳細情報について
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- CRID
- 1390845713023862400
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- NII Article ID
- 130007519915
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- NII Book ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL BIB ID
- 028411765
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed