紀要論文

占有格子地図に基づく相関モデルを用いたLocalizabilityの推定

INSTRUCTIONS FOR PREPARATION OF CAMERA-READY MANUSCRIPTS FOR BULLETIN OF GRADUATE SCIENCE AND ENGINEERING, ENGINEERING STUDIES

jpn

24368083

https://doi.org/10.15002/00026349

法政大学大学院理工学研究科

法政大学大学院紀要. 理工学研究科編

64

1

6

2023-03-24

Version of Record

In the field of autonomous mobile robotics, reliable localization performance is essential. However, there are real environments where localization is a failure. In this paper, we propose a method for estimating localizability based on occupancy grid maps. Localizability indicates the reliability of localization. There are several approaches to estimate localizability, and we propose a method using local map correlations. The covariance matrix of the Gaussian distribution from local map correlations is used to estimate localizability. In this way, we can estimate the magnitude of the localization error and the characteristics of the error. The experiment confirmed the characteristics of the distribution of correlations for each location on occupancy grid maps. And the localizability of the whole map was estimated using an occupancy grid map containing a vast and complex. The simulation experiment results showed that the proposed method could estimate localization error and the characteristics of the error on occupancy grid maps. The proposed method was confirmed to be effective in estimating localizability.

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