Accurate Self-Localization by Time Management Fusion Between 3D-NDT and Odometry

Naoto Tanifuji, Tadahiro Hasegawa, Hiroaki Fukuda, Shin'ichi Yuta

研究成果: Conference contribution

抄録

An accurate self-localization method based on time management fusion between 3D-NDT (Normal Distributions Transform) scan matching and odometry was proposed. The latency of NDT scan matching process is comparatively long, which causes a problem of time discrepancy with the current position of the mobile robot driving autonomously. Therefore, the NDT scan matching process was separated from main PC to another PC to improve the latency of NDT scan matching. An effective data sharing method between PCs, Distributed Streaming Data Sharing Manager (DSSM) with a cache mechanism, was also developed, resulting in a fusion with precise time management between respective self-localizations. The experimental results showed that the accuracy and stability of self-localization was improved drastically.

本文言語English
ホスト出版物のタイトル23rd International Conference on Control, Automation and Systems, ICCAS 2023
出版社IEEE Computer Society
ページ1195-1198
ページ数4
ISBN(電子版)9788993215274
DOI
出版ステータスPublished - 2023
イベント23rd International Conference on Control, Automation and Systems, ICCAS 2023 - Yeosu, Korea, Republic of
継続期間: 2023 10月 172023 10月 20

出版物シリーズ

名前International Conference on Control, Automation and Systems
ISSN(印刷版)1598-7833

Conference

Conference23rd International Conference on Control, Automation and Systems, ICCAS 2023
国/地域Korea, Republic of
CityYeosu
Period23/10/1723/10/20

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 電子工学および電気工学

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