単一モバイルデバイスによる自律的な自己位置推定と地図構築
Autonomous Localization and Mapping Using a Single Mobile Device
マイクとスピーカーを搭載したモバイル端末で音響パルスを発し、壁からの一次反射音と内蔵モーションセンサの情報だけを用いて、事前インフラなしに2次元の部屋形状復元と自己位置推定を同時に行う手法を提案した論文。
著者: Tiexing Wang, Fangrong Peng, Biao Chen
分類: cs.RO
原文アブストラクト
This paper considers the problem of simultaneous 2-D room shape reconstruction and self-localization without the requirement of any pre-established infrastructure. A mobile device equipped with co-located microphone and loudspeaker as well as internal motion sensors is used to emit acoustic pulses and collect echoes reflected by the walls. Using only first order echoes, room shape recovery and self-localization is feasible when auxiliary information is obtained using motion sensors. In particular, it is established that using echoes collected at three measurement locations and the two distances between consecutive measurement points, unique localization and mapping can be achieved provided that the three measurement points are not collinear. Practical algorithms for room shape reconstruction and self-localization in the presence of noise and higher order echoes are proposed along with experimental results to demonstrate the effectiveness of the proposed approach.
