Art

J-GLOBAL ID：201202267082339241   Reference number：12A1565806

High Resolution Grid Map with Normal Distribution Transform Algorithm

高解像度NDTグリッドマップを用いた環境地図生成

Author (5)： TAKUBO TOMOHITO (大阪市大 大学院工学研究科) ,  KAMINADE TAKUYA (トヨタ自動車) ,  MAE YASUSHI (大阪大 大学院基礎工学研究科) ,  ARAI TATSUO (大阪大 大学院基礎工学研究科) ,  OHARA KEN'ICHI (大阪大 大学院基礎工学研究科)
Material： 日本機械学会論文集 C編(Web)  (Transactions of the Japan Society of Mechanical Engineers. Series C (Web))
Volume： 78  Issue： 793  Page： 3186-3201 (WEB ONLY)  Publication year： 2012 
JST Material Number： U0184A  ISSN： 1884-8354  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *robot ,  small type ,  estimation ,  recognition ,  *map compilation ,  high-resolution ,  matching (graph) ,  algorithm ,  resolving power ,  localization
Semi thesaurus term： *environment recognition ,  high-resolution ,  scan matching ,  lattice resolution

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (12)：

• (1) Peter Biber and Wolfgang Straβer, “The Normal Distributions Transform:A New Approach to Laser Scan Matching”, Proceedings of the 2003 IEEE International Conference on Intelligent robots and Systems, (2003), pp. 2743-2748.
• (2) Michael Montemerlo, Sebastian Thrun, Daphne Koller and Ben Wegbreit, “FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem”, Proceedings of the AAAI National Conference on Artificial Intelligence, (2002), pp.593-598.
• (3) F. Lu and E. Milios, “Globally Consistent Range Scan Alignment for Environment Mapping”, Autonomous Robots, Vol. 4, (1997), pp.333-349.
• (4) Kazunori Ohno, Takafumi Nomura, Satoshi Tadokoro, “Real-Time Robot Trajectory Estimation and 3D Map Construction using Camera”, Proceedings of the 2006 IEEE International Conference on Intelligent robots and Systems, (2006), pp.5279-5285.
• (5) Ripperda, N. and Brenner, C., “Marker-Free Registration of Terrestrial Laser Scans Using the Normal Distribution Transform”, Proceedings of the ISPRS Working Group V/4 Workshop 3D-ARCH 2005: “Virtual Reconstruction and Visualization of Complex Architectures”, (2005).

Terms in the title (5)： 高解像度 ,  NDT ,  グリッド ,  マップ ,  環境地図