͜ͷ<ୈ൛>ʹ͍ͭͯ w ͜ͷࢿྉʮͷ$7ษڧձؔ౦ʯͰͷൃදࢿྉΛʮ݄ʯ ʹߋ৽ͯ͠࠶ެ։ͨ͠ͷͰ͋Δɽ w ΄ͲܦͬͨݱࡏͰʮ%܈ॲཧͷ1$-Λհͨ͠ಋೖʯͱͯ͠༗ ༻ͩͱஅ͠ɼ࠶ެ։͢Δ͜ͱʹͨ͠ɽ w ༰ͳΔͦ͘ͷ··ʹ͠ɼಡΈ͘͢ͳΔΑ͏จମͱσβΠϯͳͲͩ ͚গ͑ͨ͠ɽʮ݄ݱࡏͷঢ়گɾఆ൪ʯͱͷဃ͕͋·Γʹܹ ͍͠༰ʹ͍ͭͯɼ৭ͰऍͷՃΛߦͬͨɽ w ͷʮਂֶशϒʔϜҎલͷݹ͍༰ʯͰ͋Δ͜ͱʹҙ͞Εͨ ͍ɽʢٯʹݴ͏ͱɼए͍ํ͕աڈΛΔʹϞοςίΠͷ༰ ɽ w ࠓͰຊ࣭తͳॴมΘ͍ͬͯͳ͍ɽΑͬͯɼϩϘοτϏδϣϯΛςʔϚ ͱ͞ΕΔڭһͷํͳͲɼ͜ͷࢿྉΛࠓޙ༗ޮతʹ׆༻͍͚ͯͨͩ͠Δ ͱ͍Ͱ͋Δɽ
ຊͷ༰ w 1$-ͷجຊͷհ w ʮ৽ೖੜͷօɺ1$-ͷ՝ͬͯΒ͍·͢ʯΛղܾɽ w 1$-ͱ܈ॲཧͷ🔰͚νϡʔτϦΞϧΛఏڙɽ w ͳͥ܈ॲཧ͔ʁ w ʮ%ͱ͔ͦ͠͏͔ͩΒɺը૾ͰΓ·͠ΐ͏ΑઌഐʯΛղܾ w %܈ॲཧͷํ͕༗རͰָͳ͜ͱΛհɽ ˞ຊʮʯͷॱͰઆ໌͕ͨ͠ɼઌʹ1$-հͨ͠΄͏͕۩ମతʹΠϝʔδ ͘͢͠ͳΔͷͰɼ͜ͷॱͰઆ໌ɽ
w ਫ਼ͳ%σʔλ͕ಘΒΕΔΘ͚Ͱͳ͘ɼϊΠδʔͳσ ϓε͔ΒՄೳͳॲཧ͔࣮͠ݱͰ͖ͳ͍ɽ w ंϩϘοτ͔ΒݟͯԕํͷॴΛೝࣝରͱ͍ͯ͠Δɽ w .74ͱύονϕʔε̏࣍ݩ෮ݩɿ(PPHMF&BSUIͳͲ w ରγʔϯͷपғΛ৭Μͳ͔֯ΒࡱӨ͢Δඞཁ͋Γ w %࠶ߏͷܭࢉ͕࣌ؒ͘ɼ࣮࣌ؒΞϓϦʹ༻ Ͱ͖ͳ͍
w ୭Ͱ%܈ GQT ͕͑ΔΑ͏ʹͳ͕ͬͨɿ w %܈ϝογϡॲཧͷϊϋΛ͍࣋ͬͯΔਓ͕গͳ͍ɻ w ,JOFDU4%,0QFO/*܈ͦͷͷʹର͢Δ֤छॲཧର֎ ʢਓ࢟ਪఆͳͲɼ/BUVSBM6TFS*OUFSGBDFͷఏڙ͕ओతʣ w 0QFO$7ͷΑ͏ͳϥΠϒϥϦ͕ɼ%܈͚ʹଘࡏ͍ͯ͠ͳ͍ w ഁ֨తʹՁ֨ͳ,JOFDUͷొʹΑΓɺ୭Ͱ ʮ%܈ʯ͕ʮಈը GQT ʯͰऔಘՄೳʹɻ ʮ࣍ݩ܈ॲཧʯͷχʔζʹԠ͑ΔͨΊʹ 1PJOU$MPVE-JCSBSZ͕ొ
w ϋʔυΣΞ ηϯαʔ ͷຽओԽ w ίϯγϡʔϚσϓεηϯαʔ ,JOFDU
4PGULJOFUJD ͕σε Ϋτοϓ1$͚ʹొɻ w ϞόΠϧ͚ͷJ1BEͷ 4USVDUVSF4FOTUPS "OESPJEͷ(PPHMF5BOHP ͳͲొ࢝͠Ί͍ͯΔ w ιϑτΣΞͷຽओԽɿ w 1PJOU$MPVE-JCSBSZͷొͰ% ίϯϐϡʔλϏδϣϯ܈ॲཧͷ ιϑτΣΞ࡞ͷෑډ͕ҰؾʹԼ ͕Δɻ w 0QFOGSBNFXPSLTͳͲͷ 0QFO/*ͷ౷߹0DVMVTͳͲͷొ ʹΑΓɺՄࢹԽɺΠϯλϥΫγϣ ϯɺ73ͳͲͰͷ%ίϯϐϡʔλϏ δϣϯͷ༻༰қԽɾ׆ൃԽ
҆Ձͳ,JOFDUొ ˠ%܈Ϗδϣϯ͕खܰʹࢼͤΔΑ͏ʹ w Ҏલը૾ೖྗͩͬͨʮϚγ ϯϏδϣϯʯɼ%܈ ೖྗΛࢼ͢͜ͱ͕׆ൃԽɽ D. Holz, R. et al. “Towards semantic scene analysis with Time-of- fl ight cameras”. RoboCup Intermational Symposium, 2010 M .Fallon et al. “Ef fi cient Scene Simulation for Robust Monte Carlo Localization Using an RGB-D Camera” CVPR 2012 tutorial
w ϨϯδϑΝΠϯμ͕ޮՌͳͷͰ ࠳͍ͯͨ͠ʮҠಈϩϘοτͷ ؟ʯͱͯ͠ɼظͷʹɽ 1$-ͷجຊͷհ
1PJOU$MPVE-JCSBSZͷొ w 1PJOU$MPVEͱ.FTIͷॲཧͷͨΊͷ$ݴޠʹΑΔΦʔϓϯ ιʔεͷେنϥΠϒϥϦ w 0QFO$7ͷ࢞ຓϓϩδΣΫτ w #4%ϥΠηϯεແྉͰ༻༻Մೳ w 8JO.BD-JOVY
"OESPJEJ04ͷΫϩεϓϥοτϑΥʔϜ w 0QFO/*Λ͡Ίɺ֤ࣾσϓεηϯαʔͱ࿈ܞՄೳʢ܈ ͷ؆୯ͳϦΞϧλΠϜऔಘʣ
1$%ϑΝΠϧܗࣜ w 1$-ಠࣗఆٛͷ܈ϑΝΠϧܗ͕ࣜ1PJOU$MPVE%BUBʢ֦ுࢠQDEʣ w PCKQMZͷΑ͏ʹϝογϡσʔλͷอଘ͕ඞཁͳ͍ͷͰɺ܈͚ͩΛอ ଘ͢ΔͨΊʹޮతͳಠࣗϑΝΠϧܗࣜΛఆٛͨ͠ʢ˞චऀͷԱଌʣ w όΠφϦʔܗࣜͱςΩετܗࣜͷ̎छྨ͕ଘࡏ ԼͷྫςΩετܗࣜ
1$-JPϞδϡʔϧ w 1PJOU$MPVE1PJOU5ܕͷσʔλΛ1$-ͷಠࣗϑΝΠϧܗࣜ ͷʮQDEܗࣜʯอଘɾಡΈࠐΈ͕Մೳ w 0QFO/*ʹΑΓσʔλΛऔಘͰ͖Δ֤छσϓεηϯα ,JOFDU
9UJPO ͔ΒϦΞϧλΠϜʹಉظ͞Εͨʮڑը૾ ʴ3(#ը૾ʯΛ1PJOU$MPVEܕͰΩϟϓνϟՄೳ w ֤छϝογϡσʔλܗࣜʢPCKɺQMZɺWULϑΝΠϧʣͷಡΈ ॻ͖͕Մೳʢ˞ಡΈࠐΈ͋·Γॆ࣮͍ͯ͠ͳ͍ʣ
w ϊΠζ͕ଟ͍ w ࿈ଓͨ͠ද໘্ͰͷԜತˠ#JMBUFSBM'JMUFSͰΤοδอଘͨ͠ ··ฏԽ w ࢄൃతͳϊΠζʢεϖοΫϧϊΠζʣ ˠ4UBUJTUJDBM0VUMJFS3FNPWBMͰ֎Εআڈ w σʔλྔ͕ଟ͍ˠ7PYFM(SJE'JMUFSͰμϯαϯϓϦϯά %ηϯαʔͷੜσʔλดͨ͡ʢ݀ͷແ͍ʣ حྷͳ܈Ͱͳ͍ͷͰલॲཧͷඞཁੑ͋Γ
લͷ·ͱΊ w 1PJOU$MPVE-JCSBSZͷجຊ͚ͩհɿ w 1PJOU$MPVEͱ3(#%σʔλͷߏʹ͍ͭͯಋೖ w ,JOFDUΛ࢝Ίͱ֤ͨࣾ͠σϓεηϯαʔ͔Β؆୯ʹ ϦΞϧλΠϜͷ܈ΛऔಘՄೳ w 1$-7JTVBMJ[FS͕͋ΔͷͰ%ՄࢹԽ؆୯ w ๛ͳެࣜνϡʔτϦΞϧͰߋʹษڧ͠·͠ΐ͏
QDM3FDPHOJUJPO w %ಛϕʔεͰςϯϓϨʔ τ܈ͱͷؒͰϚονϯά w ମΛೝࣝ%࢟ਪఆ w ײతʹ ը૾ಉ࢜Ͱͷ 4*'5Ϛονϯάͷ࣍ݩ൛ IUUQQPJOUDMPVETPSHEPDVNFOUBUJPOUVUPSJBMT DPSSFTQPOEFODF@HSPVQJOHQIQDPSSFTQPOEFODFHSPVQJOH
w ɺਓɺۭؒɺλϒϨοτεϚϗͰ%εΩϟϯ͢Δ࣌ ʢདྷʹϒϨΠΫʁʣ w 4-".͕ຽओԽʢՁ֨Խʣ͠͡ΊΔɺͱ͍͏ྲྀΕͱݴ͑Δ 4USVDUVSF4FOTPS"U3JQMFZT#FMJFWF*U0S/PU IUUQXXXZPVUVCFDPNXBUDI W+NH3E'20-1X
ޙʮͳͥ܈ॲཧ͔ʁʯ·ͱΊ w ʢ৭Λແࢹͯ͠ʣ࣍ݩͷܗ͚ͩͰରΛೝࣝͰ͖Δ w ʢਓͩͱಛʹʣฏ໘ԁபͳͲϓϦϛςΟϒ͋ͯ Ίָ͕ʢ*MPWF3"/4"$ʣ w ରΛϑϧεΩϟϯ͢Ε%ੈքશମΛͦͷ··%Ͱ ѲɾՄࢹԽͰ͖Δ w ࡱͬͨରσβΠϯʹ׆͔ͤΔϞόΠϧ3(#%ηϯ αʔͷొͰɺ%܈σʔλདྷҎ߱େྔʹ૿͑Δʁ ͳͥ܈ॲཧ͔ʁ