3. 背景
SLAM (Simultaneous Localization and Mapping)
(J.J.Leonard and H.F.Durrant-Whyte,”Mobile robot localization by tracking geometric
beacons,” Robotics and Automation, IEEE Transactions on, vol. 7,no. 3,pp.376-382,1991.)
・地図構築(Mapping)
・自己位置推定(Localization)
https://github.com/CPFL/Autoware 3
5. 関連研究
・ICP(Iterative Closest Point):
(Paul J.Besl and Neil McKay: “A Method for Registration of 3-D Shapes”, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.14,
pp. 239–256, 1992.)
点同士の位置合わせ
・NDT(Normal Distribution Transform):
(Peter Biber and Wolfgang Straßer: “The Normal Distributions Transform:A New Approach to Laser Scan Matching”, Proceedings of the 2003
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2743–2748, 2003.)
ボクセル同士の位置合わせ
(Takeuchi Eijiro, and Takashi Tsubouchi. "A 3-D scan matching using improved 3-D normal
distributions transform for mobile robotic mapping." Intelligent Robots and Systems, 2006
IEEE/RSJ International Conference on.IEEE, 2006. 3.)
(Andrei Sharf, Marina Blumenkrants, Ariel Shamir, and Daniel
Cohen-Or. Snappaste: an interactive technique for easy mesh
composition. The Visual Computer, 22(9):835–844, 2006.)
5
6. 関連研究
・ICP(Iterative Closest Point):
(Paul J.Besl and Neil McKay: “A Method for Registration of 3-D Shapes”, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.14,
pp. 239–256, 1992.)
点同士の位置合わせ
・NDT(Normal Distribution Transform):
(Peter Biber and Wolfgang Straßer: “The Normal Distributions Transform:A New Approach to Laser Scan Matching”, Proceedings of the 2003
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2743–2748, 2003.)
ボクセル同士の位置合わせ
(Takeuchi Eijiro, and Takashi Tsubouchi. "A 3-D scan matching using improved 3-D normal
distributions transform for mobile robotic mapping." Intelligent Robots and Systems, 2006
IEEE/RSJ International Conference on.IEEE, 2006. 3.)
(Andrei Sharf, Marina Blumenkrants, Ariel Shamir, and Daniel
Cohen-Or. Snappaste: an interactive technique for easy mesh
composition. The Visual Computer, 22(9):835–844, 2006.)
6
7. 関連研究
NDT
ボクセルの平均・分散共分散を利用
(Takeuchi Eijiro, and Takashi Tsubouchi. "A 3-D scan
matching using improved 3-D normal distributions
transform for mobile robotic mapping." Intelligent Robots
and Systems, 2006 IEEE/RSJ International Conference
on.IEEE, 2006. 3.) 7