{"created":"2023-06-19T09:12:22.039481+00:00","id":24188,"links":{},"metadata":{"_buckets":{"deposit":"1da2c3c7-71ee-4605-8caa-f09b36dbb367"},"_deposit":{"created_by":1,"id":"24188","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"24188"},"status":"published"},"_oai":{"id":"oai:kumadai.repo.nii.ac.jp:00024188","sets":["426:428"]},"author_link":["106987","167451","106988"],"item_16_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-06","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2(2010)","bibliographicPageEnd":"330","bibliographicPageStart":"315","bibliographicVolumeNumber":"7","bibliographic_titles":[{"bibliographic_title":"International Journal of Humanoid Robotics"}]}]},"item_16_description_17":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_16_description_46":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"論文(Article)","subitem_description_type":"Other"}]},"item_16_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"This paper describes and compares three different approaches to estimate simultaneous localization and mapping (SLAM) in dynamic outdoor environments. SLAM has been intensively researched in recent years in the field of robotics and intelligent vehicles, many approaches have been proposed including occupancy grid mapping method (Bayesian, Dempster-Shafer and Fuzzy Logic), Localization estimation method (edge or point features based direct scan matching techniques, probabilistic likelihood, EKF, particle filter). In this paper, a number of promising approaches and recent developments in this literature have been reviewed firstly in this paper. However, SLAM estimation in dynamic outdoor environments has been a difficult task since numerous moving objects exist which may cause bias in feature selection problem. In this paper, we proposed a possibilistic SLAM with RANSAC approach and implemented with three different matching algorithms. Real outdoor experimental result shows the effectiveness and efficiency of our approach.","subitem_description_type":"Other"}]},"item_16_publisher_36":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"World Scientific Publishing"}]},"item_16_relation_11":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1142/S021984361000212X","subitem_relation_type_select":"DOI"}}]},"item_16_relation_16":{"attribute_name":"情報源(ISSN)","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"02198436"}]}]},"item_16_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2010 World Scientific Publishing Co."}]},"item_16_subject_20":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"547","subitem_subject_scheme":"NDC"}]},"item_16_text_18":{"attribute_name":"形態","attribute_value_mlt":[{"subitem_text_value":"2131878 bytes"}]},"item_16_text_47":{"attribute_name":"資源タイプ・ローカル","attribute_value_mlt":[{"subitem_text_value":"雑誌掲載論文"}]},"item_16_text_48":{"attribute_name":"資源タイプ・NII","attribute_value_mlt":[{"subitem_text_value":"Journal Article"}]},"item_16_text_49":{"attribute_name":"資源タイプ・DCMI","attribute_value_mlt":[{"subitem_text_value":"text"}]},"item_16_text_50":{"attribute_name":"資源タイプ・ローカル表示コード","attribute_value_mlt":[{"subitem_text_value":"01"}]},"item_16_version_type_19":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Lu, Zheyuan"}],"nameIdentifiers":[{"nameIdentifier":"106987","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Hu, Zhencheng"}],"nameIdentifiers":[{"nameIdentifier":"106988","nameIdentifierScheme":"WEKO"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"","affiliationNameIdentifierScheme":"ISNI","affiliationNameIdentifierURI":"http://www.isni.org/isni/"}],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"内村, 圭一","creatorNameLang":"ja"},{"creatorName":"ウチムラ, ケイイチ","creatorNameLang":"ja-Kana"},{"creatorName":"Uchimura, Keiichi","creatorNameLang":"en"}],"familyNames":[{"familyName":"内村","familyNameLang":"ja"},{"familyName":"ウチムラ","familyNameLang":"ja-Kana"},{"familyName":"Uchimura","familyNameLang":"en"}],"givenNames":[{"givenName":"圭一","givenNameLang":"ja"},{"givenName":"ケイイチ","givenNameLang":"ja-Kana"},{"givenName":"Keiichi","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"167451","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-03-02"}],"displaytype":"detail","filename":"IJHR-Lu-1_r.pdf","filesize":[{"value":"2.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"IJHR-Lu-1_r.pdf","url":"https://kumadai.repo.nii.ac.jp/record/24188/files/IJHR-Lu-1_r.pdf"},"version_id":"e3757847-36fc-45a2-99ba-f5c7db730534"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"SLAM","subitem_subject_scheme":"Other"},{"subitem_subject":"occupancy grid","subitem_subject_scheme":"Other"},{"subitem_subject":"localization","subitem_subject_scheme":"Other"},{"subitem_subject":"monocular","subitem_subject_scheme":"Other"},{"subitem_subject":"stereovision","subitem_subject_scheme":"Other"},{"subitem_subject":"lidar","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Slam estimation in dynamic outdoor environments","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Slam estimation in dynamic outdoor environments"}]},"item_type_id":"16","owner":"1","path":["428"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-11-12"},"publish_date":"2010-11-12","publish_status":"0","recid":"24188","relation_version_is_last":true,"title":["Slam estimation in dynamic outdoor environments"],"weko_creator_id":"1","weko_shared_id":1},"updated":"2023-09-05T03:14:32.769408+00:00"}