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Paper Abstract and Keywords
Presentation 2023-08-25 13:25
Examination of self-localization method of mobile robots by sensing of the image of road surface for inspecting outdoor facilities
Toya Kaneko, Yoshikazu Ebina, Takuya Kosakai, Masato Mizukami (Muroran Inst. of Tech.), Shoji Mochizuki (NTT) R2023-33 EMD2023-28 CPM2023-38 OPE2023-77 LQE2023-24
Abstract (in Japanese) (See Japanese page) 
(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) 
(in English) Mobile robot / Self-localization / Image sensor / RGB-D camera / / / /  
Reference Info. IEICE Tech. Rep., vol. 123, no. 159, EMD2023-28, pp. 83-88, Aug. 2023.
Paper # EMD2023-28 
Date of Issue 2023-08-17 (R, EMD, CPM, OPE, LQE) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF R2023-33 EMD2023-28 CPM2023-38 OPE2023-77 LQE2023-24

Conference Information
Committee LQE OPE CPM EMD R  
Conference Date 2023-08-24 - 2023-08-25 
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 
Paper Information
Registration To EMD 
Conference Code 2023-08-LQE-OPE-CPM-EMD-R 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Examination of self-localization method of mobile robots by sensing of the image of road surface for inspecting outdoor facilities 
Sub Title (in English)  
Keyword(1) Mobile robot  
Keyword(2) Self-localization  
Keyword(3) Image sensor  
Keyword(4) RGB-D camera  
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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)
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Speaker Author-1 
Date Time 2023-08-25 13:25:00 
Presentation Time 25 minutes 
Registration for EMD 
Paper # R2023-33, EMD2023-28, CPM2023-38, OPE2023-77, LQE2023-24 
Volume (vol) vol.123 
Number (no) no.158(R), no.159(EMD), no.160(CPM), no.161(OPE), no.162(LQE) 
Page pp.83-88 
#Pages 6 
Date of Issue 2023-08-17 (R, EMD, CPM, OPE, LQE) 

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