| Presentation | 2023-08-25 Self-localization method by visual odometry of road surface sensing for outdoor mobile inspection robots Toya Kaneko, Yoshikazu Ebina, Takuya Kosakai, Masato Mizukami, Shoji Mochizuki, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Most public infrastructure equipment in use today was built during a period of high economic growth and is rapidly aging. However, inspection workers have been decreasing and tools for inspecting buried infrastructure (e.g., handheld ground-penetrating radar) require a great amount of labor and time. Thus, autonomous mobile robots are required to improve efficiency and labor costs. High self-position estimation accuracy is required for autonomous movement and for specifying a position by comparing the coordinates of objects buried underground with information from a ground-penetrating radar. For the self-localization using the image of road surface, we described the result that inspection examined by an experiment about the influence that the road surface image state that we acquired with RGB-D camera gives in estimated precision. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Mobile robot / Self-localization / Image sensor / RGB-D camera |
| Paper # | R2023-33,EMD2023-28,CPM2023-38,OPE2023-77,LQE2023-24 |
| Date of Issue | 2023-08-17 (R, EMD, CPM, OPE, LQE) |
| Conference Information | |
| Committee | LQE / OPE / CPM / EMD / R |
|---|---|
| Conference Date | 2023/8/24(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tohoku university |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Photodetectors, Modulators, Optical Electrical device packaging and reliability |
| Chair | Kosuke Nishimura(KDDI Research) / Taro Arakawa(Yokohama National Univ.) / Hideki Nakazawa(Hirosaki Univ.) / Takahiro Ueno(Nippon Inst. of Tech.) / Yasushi Kadota(Ricoh) |
| Vice Chair | Atsushi Yamaguchi(Kanazawa Inst. of Tech.) / / Tomoaki Terasako(Ehime Univ.) / / Hiroyuki Okamura(Hiroshima Univ.) |
| Secretary | Atsushi Yamaguchi(Fujitsu) / (Yokohama National Univ.) / Tomoaki Terasako(Kanto Gakuin Univ.) / (NTT) / Hiroyuki Okamura(Shinshu Univ.) |
| Assistant | Keita Mochiduki(Yokohama National Univ.) / Takshi Fujisawa(Hokaido Univ.) / Hideyuki Nasu(Furukawa Electric) / Yasuo Kimura(Tokyo Univ. of Tech.) / Fumihiko Hirose(Yamagata Univ.) / Yuichi Nakamura(Toyohashi Univ. of Tech.) / Yoshiki Kayano(Univ. of Electro-Comm.) / Naoki Fukuda(Teikyo Univ.) / Shinji Yokogawa(Univ. of Electro-Comm.) / Takahide Yoshikawa(Fujitsu Lab.) / Shuhei Ota(Kanagawa Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Lasers and Quantum Electronics / Technical Committee on OptoElectronics / Technical Committee on Component Parts and Materials / Technical Committee on Electromechanical Devices / Technical Committee on Reliability |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Self-localization method by visual odometry of road surface sensing for outdoor mobile inspection robots |
| Sub Title (in English) | |
| Keyword(1) | Mobile robot |
| Keyword(2) | Self-localization |
| Keyword(3) | Image sensor |
| Keyword(4) | RGB-D camera |
| 1st Author's Name | Toya Kaneko |
| 1st Author's Affiliation | Muroran Institute of Technology(Muroran Inst. of Tech.) |
| 2nd Author's Name | Yoshikazu Ebina |
| 2nd Author's Affiliation | Muroran Institute of Technology(Muroran Inst. of Tech.) |
| 3rd Author's Name | Takuya Kosakai |
| 3rd Author's Affiliation | Muroran Institute of Technology(Muroran Inst. of Tech.) |
| 4th Author's Name | Masato Mizukami |
| 4th Author's Affiliation | Muroran Institute of Technology(Muroran Inst. of Tech.) |
| 5th Author's Name | Shoji Mochizuki |
| 5th Author's Affiliation | Nipppon Telegtraph and Telephone Corporation(NTT) |
| Date | 2023-08-25 |
| Paper # | R2023-33,EMD2023-28,CPM2023-38,OPE2023-77,LQE2023-24 |
| Volume (vol) | vol.123 |
| Number (no) | R-158,EMD-159,CPM-160,OPE-161,LQE-162 |
| Page | pp.pp.83-88(R), pp.83-88(EMD), pp.83-88(CPM), pp.83-88(OPE), pp.83-88(LQE), |
| #Pages | 6 |
| Date of Issue | 2023-08-17 (R, EMD, CPM, OPE, LQE) |