自己位置推定arXiv:2410.12362
人間指向環境における人間に着想を得た長期屋内自己位置推定
Human-Inspired Long-Term Indoor Localization in Human-Oriented Environment
フロアプランなどの幾何学的事前情報とテキスト・意味情報を活用し、数ヶ月に及ぶ長期屋内自己位置推定・地図構築を実現した研究の概説。
著者: Nicky Zimmerman, Matteo Sodano
分類: cs.RO
原文アブストラクト
Lifelong localization is crucial for enabling the autonomy of service robots. In this paper, we present an overview of our past research on long-term localization and mapping, exploiting geometric priors such as floor plans and integrating textual and semantic information. Our approach was validated on challenging sequences spanning over many months, and we released open source implementations.
