㸯㸰㸬ண㜵Ᏻ඲࣭⮬ື㐠㌿ࡢࡓࡵࡢ⎔ቃㄆ㆑᝟ሗ࣭▱⬟ᕤᏛ⣔ ᩍᤵ ୕ᾆ ⣧㸯㸰㸫㸯 ࡣࡌࡵ࡟
 ⮬ື㌴࡟ࡼࡿ஦ᨾࢆண㜵ࡋ㸪ࡲࡓᑗ᮶ࡢ⮬ື㐠㌿ࢆᐇ⌧ࡍࡿࡓࡵ࡟ࡣ㐨㊰࠶ࡿ࠸ࡣேࡸ௚㌴ࢆㄆ㆑ࡋ㸪೵Ṇࡸᅇ㑊࡞࡝ࡢ㐺ษ࡞⾜ືࢆྲྀࡿࡇ࡜ࡀồࡵࡽࢀࡿࠋࡇࢀࡽࡢᶵ⬟ࢆᐇ⌧ࡍࡿࡓࡵࡢᢏ⾡ࡣ㸪⮬ᚊ⛣ືࣟ࣎ࢵࢺศ㔝࡟࠾࠸࡚◊✲ࡉࢀ࡚ࡁࡓࡶࡢ࡜࡯ࡰྠ୍࡛࠶ࡿࠋࡑࡇ࡛㸪ᮏ❶࡛ࡣண㜵Ᏻ඲࣭⮬ື㐠㌿࡟㐺⏝ྍ⬟࡞ࣟ࣎ࢵࢺࡢ▱⬟໬ᢏ⾡࡜ࡋ࡚㸪ே≀ࡢ᳨ฟᢏ⾡࠾ࡼࡧᆅᅗ⏕ᡂᢏ⾡࡟ࡘ࠸࡚㏙࡭ࡿࠋ㸯㸰㸫㸰 ே≀᳨ฟ㸦㸯㸧ே≀᳨ฟࡢ㔜せᛶ ⮬ື㌴ࡢᏳ඲ᛶྥୖࡢࡓࡵ࡟ࡣṌ⾜⪅ࢆ㧗ಙ㢗࡟᳨ฟࡍࡿࡇ࡜ࡀ୙ྍḞ࡛࠶ࡿࠋ⏬ീ࡟ࡼࡿே≀᳨ฟᡭἲ࡟ࡘ࠸࡚ࡣ㸪㏆ᖺࡢ⏬ീࡢᒁᡤ≉ᚩ㔞࡜Ꮫ⩦࢔ࣝࢦࣜࢬ࣒ࡢⓎᒎ࡟ࡼࡾ㸪↷᫂᮲௳ࡀ㐺ษ࡛࠶ࢀࡤ࠿࡞ࡾࡢ᳨ฟ⢭ᗘࡀᚓࡽࢀࡿࡇ࡜ࡀ♧ࡉࢀ࡚࠸ࡿࠋࡋ࠿ࡋ࡞ࡀࡽ㸪⮬ື㌴࡛฼⏝ࡍࡿࡓࡵ࡟ࡣ㸪ேࡢ㐠ື᪉ྥࢆண ࡍࡿࡓࡵࡢྥࡁ࡜⛣ື᪉ྥࡢ᥎ᐃࡸ㸪㐺ษ࡞ᅇ㑊⾜ືࢆྲྀࡿࡓࡵࡢ 3 ḟඖ᝟ሗࡢྲྀᚓ࡞࡝ࡀᚲせ࡜࡞ࡿࠋᮏ⠇࡛ࡣ㸪ே≀᳨ฟ࣭≧ែ᥎ᐃࡢࡓࡵ࡟㛤Ⓨࡋࡓᡭἲ࡟ࡘ࠸࡚㏙࡭ࡿࠋ㸦㸰㸧⏬ീ᝟ሗࢆ฼⏝ࡋࡓே≀ࡢྥࡁ࡜⛣ື᪉ྥࡢ᥎ᐃ [1] ᅗ 12-2-1 ࡟ฎ⌮ࡢࣈࣟࢵࢡᅗࢆ♧ࡍࠋฎ⌮ࡣ኱ࡁࡃ 2 ࡘ࡟ศ࠿ࢀࡿࠋ᳨ฟ㒊࡛ࡣ㸪ࡲࡎ HOG ≉ᚩ[2]࡜ Adaboost ࢆ⏝࠸ࡓ᳨ฟჾ[3]ࢆୖ༙㌟᳨ฟ⏝࡟Ꮫ⩦ࡉࡏ㸪⏬ീ୰ࡼࡾୖ༙㌟ࢆ᳨ฟࡍࡿࠋ᳨ฟࡋ
ࡓୖ༙㌟㡿ᇦ࡟ᑐࡋ㸪ᙧࢆᤊ࠼ࡿ HOG ≉ᚩ࠾ࡼࡧࢸࢡࢫࢳࣕࢆᤊ࠼ࡿ LBP ≉ᚩ[4]ࢆィ⟬ࡋ㸪ྜࢃࡏ࡚≉ᚩ࣋ࢡࢺࣝ࡜ࡍࡿࠋேࡢྥࡁࡣᅗ 12-2-2 ࡟♧ࡍ 8 ᪉ྥ࡟㔞Ꮚ໬ࡋ࡚᥎ᐃࡍࡿࠋᅗ  ே≀ࡢྥࡁ࣭⛣ື᪉ྥ᥎ᐃฎ⌮ࡢࣈࣟࢵࢡᅗᅗ  ᥎ᐃࡍࡿ 8 ᪉ྥ- 110 -≉ᚩ࣋ࢡࢺࣝࡢḟඖ๐ῶ࡟ࡣ㒊ศ᭱ᑠ 2 ஌ἲ㸦Partial Least Squares, PLS㸧[5]ࢆ⏝࠸ࡿࠋPLS ࡣධຊ✵㛫㸦≉ᚩ࣋ࢡࢺࣝ㸧࡟࠾ࡅࡿࢹ࣮ࢱࡢศᕸࡔࡅ࡛࡞ࡃ㸪ฟຊ✵㛫㸦ࢡࣛࢫࣛ࣋ࣝ㸪ࡇࡇ࡛ࡣ㞳ᩓ໬ࡉࢀࡓே≀ࡢྥࡁ㸧࡜ࡢ┦㛵ࢆ⪃៖ࡋ࡚㒊ศ✵㛫ࢆసᡂࡍࡿࡓࡵ㸪ࡼࡾ㆑ูᛶ⬟ࡢ㧗࠸㒊ศ✵㛫ࢆసᡂࡍࡿࡇ࡜ࡀ࡛ࡁࡿࠋPLS ࡟ࡼࡗ࡚ᚓࡽࢀࡓ≉ᚩ࣋ࢡࢺࣝࢆ⏝࠸࡚ྥࡁࡢศ㢮ࢆ⾜࠺ࠋศ㢮ჾ࡟ࡣከࢡࣛࢫศ㢮ࡀྍ⬟࡞ Random Forest[6]ࢆ⏝࠸ࡿࠋ Ṍ⾜୰ࡢே≀ࡣ㏻ᖖ㐍⾜᪉ྥࢆྥ࠸࡚࠸ࡿࡢ࡛㸪⛣ື᪉ྥ࡜ྥࡁ࡜ࡢ㛫࡟ࡣ㛵㐃ࡀ࠶ࡿࠋࡑࡇ࡛㸪୧᪉ࡢ᝟ሗࢆ⤫ྜࡋ࡚ྥࡁࢆ᥎ᐃࡍࡿࡓࡵ࡟㸪ே≀ࡢ఩⨨㸪㏿ᗘ㸪ྥࡁࢆ≧ែኚᩘ࡜ࡍࡿ Unscented
Kalman Filter ࢆ฼⏝ࡋࡓ㏣㊧ჾࢆᵓᡂࡋ㸪᝟ሗ⤫ྜࢆ⾜࠺㸦ᅗ 12-2-1 ࡢୗࡢࣈࣟࢵࢡ㸧ࠋࡲࡓ㸪ே
≀㏣㊧᝟ሗࢆ฼⏝ࡋ࡚⏬ീ୰ࡢே≀᳨ฟ⠊ᅖࢆ㝈ᐃࡍࡿࡇ࡜࡟ࡼࡗ࡚ฎ⌮᫬㛫ࡢ▷⦰ࢆᅗࡿࠋ
 ᅗ12-2-3 ࡟TUD-Stadtmitte ࢹ࣮ࢱ࣮࣋ࢫ[7]ࢆ⏝࠸࡚ே≀᳨ฟ࠾ࡼࡧྥࡁ᥎ᐃࢆ⾜ࡗࡓ౛ࢆ♧ࡍࠋᅗ୰㸪ୖẁࡣே≀ࡢ᳨ฟ⤖ᯝ㸦෇⟄㸧࡜ྥࡁࡢ᥎ᐃ⤖ᯝ㸦▮༳㸧ࢆ♧ࡍࠋୗẁࡣ 2 ḟඖᗙᶆ⣔࡟࠾ࡅࡿ࣓࢝ࣛど㔝࡜᳨ฟࡉࢀࡓே≀఩⨨ࢆ♧ࡍࠋ௚ࡢࢹ࣮ࢱ࣮࣋ࢫࢆ⏝࠸ࡓẚ㍑࡟࠾࠸࡚㸪ᚑ᮶ᡭἲ࡟ẚ࡭࡚ே≀᳨ฟ࠾ࡼࡧྥࡁ᥎ᐃࡢ⢭ᗘࡀྥୖࡋ࡚࠸ࡿࡇ࡜ࡀ♧ࡉࢀ࡚࠸ࡿ[1]ࠋ

ᅗ  TUD-Stadtmitte ࢹ࣮ࢱ࣮࣋ࢫ࡟ᑐࡍࡿே≀᳨ฟ࣭ྥࡁ᥎ᐃ⤖ᯝࡢ౛㸦㸱㸧⏬ീ࡜ 2 ḟඖ㊥㞳ࢭࣥࢧࢹ࣮ࢱࢆ⏝࠸ࡓே≀ࡢ㏣㊧࡜ㄆド[8] ⏬ീࢹ࣮ࢱࡣே≀ࡢ㆑ู࡟᭷ຠ࡛࠶ࡿࡀ㸪ぢ࠼ࡢࡳࡢ᝟ሗ࡛ࡣㄗࡗࡓ㡿ᇦࢆே≀࡜ࡋ࡚ࡋࡲ࠺ྍ⬟ᛶࡀ࠶ࡿࠋࡑࡇ࡛㸪࣮ࣞࢨ㊥㞳ࢭࣥࢧ㸦Laser Range Finder㸪LRF㸧ࢆ⏝࠸࡚ே≀ࢆ᳨ฟࡋ㸪ࡉࡽ࡟୧᪉ࡢࢹ࣮ࢱࢆ⤌ࡳྜࡏ࡚ே≀ㄆドࢆ⾜࠺ᡭἲࢆ㛤Ⓨࡋࡓࠋᅗ 12-2-4 ࡟ฎ⌮ࡢࣈࣟࢵࢡᅗࢆ♧ࡍࠋ
 LRF ࡟ࡼࡾே≀ࡢ⬗య㒊㸪⬮㒊ࡢ㧗ࡉࡢࢹ࣮ࢱࢆྲྀᚓࡋ㸪ᚓࡽࢀࡓ㡿ᇦࡢᙧ≧࠿ࡽே≀ࢆ᳨ฟࡋ㸪ࣟ࣎ࢵࢺ࠿ࡽࡢ┦ᑐ఩⨨ࢆィ ࡍࡿࠋࡉࡽ࡟㸪ࣟ࣎ࢵࢺࡢ⛣ືࢆ⪃៖ࡋࡓ㊊ࡢ᥋ᆅ఩⨨ࡢ᥎ᐃ࡟ࡼࡾ㸪Ṍᐜ㸦Ṍᖜ㸪Ṍ⾜࿘ᮇ㸧࡟㛵ࡍࡿ᝟ሗࢆᚓࡿࠋ୍᪉㸪LRF ࠿ࡽᚓࡽࢀࡓே≀఩⨨᝟ሗ࡜๓㡯࡛㏙࡭ࡓᅗ  ࣓࢝ࣛ࡜࣮ࣞࢨ㊥㞳ࢭࣥࢧࢆ⏝࠸ࡓே≀㏣㊧࣭㆑ู⏬ീ࡟ࡼࡿே≀᳨ฟࢆ⤌ࡳྜࡏ࡚⏬ീ୰ࡢே≀఩⨨ࢆỴᐃࡋࡓᚋ㸪᭹ࡢⰍ࠾ࡼࡧ㌟㛗ࢆィ⟬ࡍࡿࠋ㌟- 111 -㛗ࡢィ⟬࡟ࡣ㸪⏬ീ୰࠿ࡽᚓࡽࢀࡓ㢌㡬㒊఩⨨࡜ LRF ࠿ࡽᚓࡽࢀࡿே≀ࡲ࡛ࡢ㊥㞳ࢆ฼⏝ࡍࡿࠋ᭱⤊ⓗ࡟᭹ࡢⰍ㸪㌟㛗㸪Ṍᐜࡢ᝟ሗࢆ⤫ྜࡋ࡚≉ᐃࡢே≀ࢆ᳨ฟࡋ㸪㏣ᚑ⾜ືࢆྲྀࡿࠋ 㢌㡬㒊ࡢ᳨ฟࡣ㧥Ⰽ㸦㯮Ⰽ㸧ࡽࡋ࠸㡿ᇦ࡜㍤ᗘ໙㓄ࡀᙉ࠸㡿ᇦࡢㄽ⌮✚ࢆྲྀࡾ㸪ே≀㡿ᇦෆ࡛ࡑࡢ᭱ୖ఩ࡢሙᡤࢆ㑅ᢥࡍࡿࡇ࡜࡟ࡼࡗ࡚⾜࠺㸦ᅗ 12-2-5 ཧ↷㸧ࠋLRF ࡟ࡼࡿ㊊ࡢ᥋ᆅ఩⨨ࡢ᳨ฟࡣ㸪ᅗ
12-2-6㸦ᕥ㸧࡟♧ࡍࡼ࠺࡟᫬㛫ࡈ࡜ࡢ⬮఩⨨ࢆ 2 ḟඖᖹ㠃ୖ࡟ᢞ⚊ࡋ㸪ࡑࡢᢞ⚊್ࡢ㧗࠸࡜ࡇࢁࢆ᥋
ᆅ఩⨨࡜ࡳ࡞ࡍࠋࣟ࣎ࢵࢺ࡜ேࡢ఩⨨㛵ಀ࡟ࡼࡗ࡚ࡣ㸪∦᪉ࡢ㊊࡛ࡶ࠺∦᪉ࡢ㊊ࡀ㞃ⶸࡉࢀࡿࡓࡵ㸪㞃ⶸࡢ᭷↓ࢆุ᩿ࡋ㞃ⶸഃࡢ᥋ᆅ఩⨨ࡢಙ㢗ᛶࢆపࡃタᐃࡋࡓୖ࡛㸪Ṍᖜ㸪Ṍ⾜࿘ᮇࢆ᥎ᐃࡍࡿ㸦ᅗ
12-2-6㸦ྑ㸧㸧ࠋᅗ  㢌㡬㒊᳨ฟฎ⌮⬮఩⨨ࢹ࣮ࢱࡢ⵳✚  ㍈㊊఩⨨ࡢಙ㢗ᛶᅗ  ᥋ᆅ఩⨨ࡢ᳨ฟ

ᅗ 12-2-7 ࡟♧ࡍ≧ἣ࡛ࡑࢀࡒࢀࡢே≀ࡢ㏣㊧ᑐ㇟ே≀ࣔࢹࣝ࡜ࡢ㢮ఝᗘࢆィ ࡍࡿᐇ㦂ࢆ⾜ࡗࡓࠋྑഃࡢே≀ࡀ㏣㊧ᑐ㇟ே≀࡛࠶ࡾ㸪ᕥഃࡢே≀㸦㏻⾜ே㸧࡜ࡢẚ㍑ࢆ⾜ࡗࡓࠋ࡞࠾㸪⏬ീ୰ࡢ⣸࡜⥳ࡢᢡࢀ⥺ࡣࡑࢀࡒࢀ㸪⬗࠾ࡼࡧ⬮ࡢ఩⨨ࡢ LRF ࡢ㊥㞳ࢹ࣮ࢱࢆ࣓࢝ࣛ⏬ീୖ࡟ᑕᙳࡋࡓࡶࡢ࡛࠶ࡿࠋ
ᅗ 12-2-8 ࡟ィ ࡉࢀࡓྛே≀ࡢ㌟㛗㸪Ṍᐜࢹ࣮ࢱࢆ♧ࡍࠋ࠸ࡎࢀࡶ㆑ู࡟༑ศ࡞᝟ሗࢆᣢࡗ࡚࠸ࡿࡇ࡜ࡀࢃ࠿ࡿࠋᅗ  ᐇ㦂≧ἣ
 ᅗ 12-2-9 ࡟ྛ≉ᚩ࠿ࡽᚓࡽࢀࡿ㏣㊧ᑐ㇟ே≀ࡽࡋࡉ㸦ᑬᗘ㸧࡜ࡍ࡭࡚ࡢ᝟ሗࢆ⤫ྜࡋࡓᑬᗘࡢ᫬㛫ኚ໬ࢆ♧ࡍࠋ≉ᐃࡢ᝟ሗ࡛༊ูࡀࡘࡁ࡟ࡃ࠸࡜ࡁ࡛ࡶ㸪᝟ሗ⤫ྜ࡟ࡼࡾṇࡋ࠸ே≀࡟ᑐࡋ㧗࠸ᑬᗘࡀィ⟬ࡉࢀ࡚࠸ࡿࠋᅗ  ㏣㊧ᑐ㇟㸦㉥㸧࡜㏻⾜ே㸦㟷㸧ࡢࢹ࣮ࢱ(a) ㏣㊧ᑐ㇟(b) ㏻⾜ே ᅗ  ㏣㊧ᑐ㇟ே≀ࡽࡋࡉ㸦ᑬᗘ㸧ࡢኚ໬㸦㸲㸧 ḟඖ㊥㞳ࢭࣥࢧࢆ⏝࠸ࡓே≀ࡢⓎぢ࡜㏣㊧ [9] ๓㡯࡛⏝࠸ࡓ㊥㞳ࢭࣥࢧ㸦LRF㸧ࡣ 2 ḟඖᖹ㠃ୖࢆ㉮ᰝࡍࡿࡶࡢ࡛࠶ࡗࡓࡀ㸪3 ḟඖ✵㛫ࢆ㉮ᰝࡍ

- 112 -ࡿࢱ࢖ࣉࡢ㊥㞳ࢭࣥࢧࢆ⏝࠸ࡿ࡜ே≀ࡢᙧ≧ࢆㄆ㆑ࡍࡿࡇ࡜ࡀྍ⬟࡛࠶ࡿࠋࡇࡇ࡛ࡣ㸪㧗ရ఩ 3 ḟඖ
LRF ࢆ⏝࠸࡚ே≀᳨ฟࢆ⾜࠺ᇛẊࡽࡢᡭἲ [10] ࢆ㸪ࡼࡾゎീᗘࡢప࠸ 3 ḟඖ LRF ࡟㐺⏝ࡍࡿࠋ ே≀᳨ฟࡢᡭ㡰ࢆᅗ 12-2-10 ࡟♧ࡍࠋྲྀᚓࡋࡓ 3 ḟඖࢹ࣮ࢱ(a)࠿ࡽ㊰㠃㒊ศࡢࢹ࣮ࢱࢆ㝖ཤࡋ(b)㸪
≀యࡈ࡜࡟ࢡࣛࢫࢱࣜࣥࢢࡋࡓᚋࡑࡢ኱ࡁࡉ࠿ࡽே≀ೃ⿵ࢆ᳨ฟࡋ(c)㸪ࡉࡽ࡟㆑ูჾ࡟ࡼࡗ࡚ே≀ࢆ᳨ฟࡍࡿ(d)ࠋ㆑ู࡟ࡣ㸪ᚑ᮶◊✲࡛⏝࠸ࡽࢀ࡚ࡁࡓ 3 ḟඖⓗ࡞Ⅼࡢศᕸ࡞࡝࡟ຍ࠼㸪≉࡟㐲᪉࡛ࢹ࣮ࢱⅬᩘࡀᑡ࡞࠸ሙྜ࡟ᑐฎࡍࡿࡓࡵ࡟⪃᱌ࡋࡓ㸪኱ࡲ࠿࡞ᙧ≧ࢆᤊ࠼ࡿࡓࡵࡢࢫࣛ࢖ࢫ≉ᚩ࠾ࡼࡧ⾰᭹ࡸ㔠ᒓ࣏࣮ࣝ➼ᮦ㉁ࡢ㐪࠸ࢆᤊ࠼ࡿࡓࡵࡢ཯ᑕᙉᗘࣄࢫࢺࢢ࣒ࣛࢆ⏝࠸ࡿࠋ㆑ูჾ࡟ࡣ
RealAdaBoost [11] ࢆ⏝࠸ࡓࠋᅗ 12-2-11 ࡟᳨ฟ౛ࢆ♧ࡍࠋ800 ᯛࡢ㊥㞳ࢹ࣮ࢱ࡟ᑐࡋ᳨࡚ฟᐇ㦂ࢆ⾜࠸㸪෌⌧⋡ 0.90㸪㐺ྜ⋡ 0.94 ࡛࠶ࡗࡓࠋ࡞࠾㸪ᅗ࡟♧ࡍ⛣ືࣟ࣎ࢵࢺࢩࢫࢸ࣒ࡣ㸪ᑐ㇟ே≀ࡀಖᣢࡍࡿⓎಙᶵࡢ㟁Ἴ฿᮶᪉ྥࢆ࢚ࢫࣃ࢔ࣥࢸࢼ[12]ࢆ⏝࠸࡚᥎ᐃࡋ㸪୍᫬ⓗ࡟ᑐ㇟ே≀ࡀど㔝࠿ࡽእࢀ࡚ࡶ෌Ⓨぢࢆ⾜ࡗࡓᚋ㸪㏣ᚑ⾜ືࢆ෌㛤࣭⥅⥆ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ [9]ࠋD  E  F  G 
ᅗ   ḟඖ㊥㞳ࢭࣥࢧࢹ࣮ࢱ࠿ࡽࡢே≀᳨ฟᅗ  ே≀᳨ฟ౛ ྠᵝࡢᡭἲࢆ㟁Ẽ⮬ື㌴࡟タ⨨ࡋࡓ㊥㞳ࢭࣥࢧ࡟㐺⏝ࡋࡓࠋ
2 ḟඖ LRF ࢆ 1 ㍈ᅇ㌿ᶵᵓ࡛ᅇ㌿ࡉࡏࡿࡇ࡜࡟ࡼࡾ㸪3 ḟඖ㊥㞳ࢹ࣮ࢱࢆྲྀᚓࡍࡿ㸦ᅗ 12-2-12 ཧ↷㸧ࠋ147 ᯛࡢ㊥㞳ࢹ࣮ࢱ࡟ᑐࡋ᳨࡚ฟᐇ
㦂ࢆ⾜࠸㸪෌⌧⋡ 0.87 ࡛࠶ࡗࡓࠋࡲࡓ㸪⮬ື໬ࢱࢡࢩ࣮࡬ࡢ㐺⏝ࢆ᝿ᐃࡋ࡚㸪ྜᅗ㸦ᡭࢆୖ࡟࠶ࡆࡿ㸦ᡭୖࡆ㸧㸪ᡭࢆᶓ࡟ฟࡍ㸦ᡭᕪฟࡋ㸧㸧ࡢ᳨ฟࢆヨࡳࡓ㸦ᅗ 12-2-13 ཧ↷㸧ࠋ⌧ᅾ㸪⮬㌿㌴࡞࡝Ṍ⾜⪅௨እࡢ⛣ືయࡶྵࡵࡓ᳨ฟࢩࢫࢸ࣒ࢆ㛤Ⓨࡋ࡚࠸ࡿࠋ   ᅗ   ḟඖ㊥㞳ࢹ࣮ࢱྲྀᚓࢩࢫࢸ࣒      ᅗ  ྜᅗ᳨ฟ⤖ᯝ- 113 -㸯㸰㸫㸱 ᒇእᆅᅗ⏕ᡂ [13] ୙ᩚᆅࡸ㞀ᐖ≀ࡢᏑᅾࡍࡿ㐨㊰ୖࢆ⛣ືࡍࡿ㝿࡟ࡣ㸪㏻⾜ྍ⬟㡿ᇦࡢ᳨ฟࡀ୙ྍḞ࡛࠶ࡿࠋࡇࡇ࡛ࡣ㸪ࡑࡢࡓࡵࡢᢏ⾡࡜ࡋ࡚ᒇእࡢ 3 ḟඖᆅᅗ⏕ᡂᡭἲࢆ㛤Ⓨࡋ࡚࠸ࡿࠋᒇෆ⎔ቃ࡛ࡢ SLAM㸦ᆅᅗ࡜⛣ື㔞ࡢྠ᫬᥎ᐃ㸧ᢏ⾡ࡣ࠿࡞ࡾᡂ⇍ࡋࡓẁ㝵࡟࠶ࡿࡀ㸪ᒇእ࡛ࡣ⛣ື㔞᥎ᐃ࡟᭷⏝࡞ᵓ㐀≀ࡀᖖ࡟࠶ࡿ࡜ࡣ㝈ࡽ࡞࠸ࠋGPS ࡣ᭷⏝࡞఩⨨᝟ሗࢆᥦ౪ࡍࡿࡀ㸪㏫࡟ᵓ㐀≀ࡢ㏆ࡃ࡛ࡣ༑ศ࡞఩⨨᥎ᐃ᝟ሗࡀᚓࡽࢀ࡞࠸ࠋࡑࡇ࡛㸪ሙᡤ࡟ᛂࡌ࡚㐺ษ࡞⛣ື㔞᥎ᐃᡭἲࢆ㑅ᢥࡍࡿ࡜࡜ࡶ࡟㸪㛢࣮ࣝࣉ᳨ฟ㸦௨
๓㏻ࡗࡓሙᡤ࡟ᡠࡗ࡚ࡁࡓࡇ࡜ࡢ᳨ฟ㸧ࡸ GPS ࡟ࡼࡿ┦ᑐ఩⨨᝟ሗ࡟ᇶ࡙࠸࡚⛣ື㔞ಟṇࢆ⾜࠺ࡇ࡜࡟ࡼࡾ㸪⛣ື⤒㊰ࢆ᥎ᐃࡋ࡚ 3 ḟඖᆅᅗࢆ⏕ᡂࡍࡿᡭἲࢆ㛤Ⓨࡋࡓࠋࢭࣥࢧ࡜ࡋ࡚ࡣ 3 ḟඖ࣮ࣞࢨ㊥㞳ࢭࣥࢧࢆ୺࡟౑⏝ࡋ㸪2 ࡘ୪࡭࡚౑࠺ࡇ࡜࡟ࡼࡾ⣙ 120 ᗘࡢど㔝ゅࢆ☜ಖࡋ࡚࠸ࡿࠋᅗ 12-3-1 ࡣྲྀᚓࡋࡓⅬ⩌ࢹ࣮ࢱࡢ౛࡛࠶ࡿࠋᅗ  Ⅼ⩌ࢹ࣮ࢱࡢ౛㸸㸦ᕥ㸧ィ ⎔ቃ 㸦ྑ㸧ྲྀᚓࡋࡓⅬ⩌ ᥦ᱌ᡭἲ࡛ࡣ㸪⛣ື㔞᥎ᐃࡢ᪉ἲ࡜ࡋ࡚㸪ᖹ㠃ࡢᑐᛂ௜ࡅ࡟ᇶ࡙ࡃᡭἲ㸪⏬ീ≉ᚩⅬࡢᑐᛂ௜ࡅ࡜
ࡑࡢ 3 ḟඖ఩⨨᥎ᐃ࡟ᇶ࡙ࡃ᪉ἲ㸪ࢫࢸࣞ࢜どぬ࢜ࢻ࣓ࢺࣜ㸪㌴㍯࢜ࢻ࣓ࢺࣜࡢ 4 ✀ࢆ㑅ᢥⓗ࡟฼⏝ࡋ࡚࠸ࡿࠋᅗ 12-3-2 ࡟ᥦ᱌ࡍࡿ⛣ື㔞᥎ᐃᡭἲࢆ⏝࠸ࡓᆅᅗ⏕ᡂ⤖ᯝࢆ♧ࡍࠋᆅᅗࡢ㟷Ⰽࡣ⛣ືྍ⬟࡞ᖹ㠃㸪㉥Ⰽࡣᘓ≀ࡸᮌ࡞࡝ࡢ㞀ᐖ≀ࢆ♧ࡍࠋD ᐇ㦂⎔ቃ࡜㉮⾜⤒㊰ E ⤒㊰᥎ᐃ⤖ᯝ F ᆅᅗ⏕ᡂ⤖ᯝ        ᅗ  㑅ᢥⓗ⛣ື㔞᥎ᐃ࡟ᇶ࡙ࡃ⤒㊰᥎ᐃ࡜ᆅᅗ⏕ᡂ
ᅗ 12-3-2 ࡢ⤖ᯝ࡛ࡣ࠾࠾ࡼࡑࡢ⤒㊰࡜ᆅᅗࡣ᚟ඖࡉࢀ࡚࠸ࡿࡶࡢࡢ⣽㒊ࡀṇ☜࡛ࡣ࡞࠸ࠋࡑࡇ࡛㸪
SURF ≉ᚩࢆ฼⏝ࡋࡓ Bag-of-visual-words ἲ [14] ࡟ࡼࡾ᫬㛫ⓗ࡟␗࡞ࡿ 2 ࡘࡢィ ఩⨨ࡀ࡯ࡰྠࡌ఩⨨࡟࠶ࡿࡇ࡜ࢆ᳨ฟࡋ㸪ࡑࡢ 2 Ⅼ㛫ࡢ┦ᑐ⛣ື㔞ࢆୖグ⛣ື㔞᥎ᐃ࡟ࡼࡗ࡚ồࡵ࡚ᚓࡓ᝟ሗ㸪࠾ࡼࡧ GPS ࢹ࣮ࢱ࠿ࡽ␗࡞ࡿ 2 ᆅⅬ㛫ࡢ┦ᑐ⛣ື㔞ࢆồࡵࡓ᝟ሗࡢ஧✀㢮ࡢ᝟ሗࢆ㏣ຍࡍࡿࡇ࡜࡟ࡼࡗ࡚㸪⤒㊰᥎ᐃ࠾ࡼࡧᆅᅗࡢᨵၿࢆᅗࡿࠋᨵၿ࡟ࡣィ ఩⨨ࢆࣀ࣮ࢻ㸪఩⨨㛫ࡢ㛵ಀࢆ࢚ࢵࢪ࡜ࡍࡿ
pose graph ࢆ⏕ᡂࡋࡓᚋ࡟᭱㐺໬ࢆ⾜࠺㸪pose graph SLAM [15] ࢆ㐺⏝ࡍࡿࠋᅗ 12-3-3 ࡟ಟṇࡋࡓ⤒㊰᥎ᐃ࡜ᆅᅗ⏕ᡂࡢ⤖ᯝࢆ♧ࡍࠋ- 114 -D ಟṇࡉࢀࡓ⛣ື㌶㊧ E ⏕ᡂࡉࢀࡓ  ḟඖᆅᅗF  E ࡢ㯤Ⰽᯟ㒊ศࡢᣑ኱ᅗ  G ྛ኱㒊ศࡢᐇ㝿ࡢ⎔ቃᅗ  ಟṇࡋࡓ⤒㊰᥎ᐃ࡜ᆅᅗ⏕ᡂࡢ⤖ᯝ㸯㸰㸫㸲 ࠾ࢃࡾ࡟ ᮏ✏࡛ࡣ㸪ண㜵Ᏻ඲࠶ࡿ࠸ࡣ⮬ື㐠㌿࡟୙ྍḞ࡞⎔ቃㄆ㆑ᢏ⾡࡜ࡋ࡚㸪ே≀ࡢ᳨ฟ࠾ࡼࡧᆅᅗࡢ⏕ᡂ࡟ࡘ࠸࡚㏙࡭ࡓࠋࡑࡇ࡛ࡣ㸪」ᩘ✀㢮ࡢࢭࣥࢧࢹ࣮ࢱࡸ᫬⣔ิࢹ࣮ࢱ࡞࡝ࢆ⤫ྜࡋ࡚ゎ㔘ࡍࡿࡇ࡜ࢭࣥࢧࣇ࣮ࣗࢪࣙࣥ࡜࿧ࡪ㸧࡟ࡼࡾ㸪ㄆ㆑ࡢಙ㢗ᛶࢆྥୖࡉࡏࡿ࢔ࣉ࣮ࣟࢳࡀ᭷ຠ࡛࠶ࡿࠋ⛣ືࣟ㸦ࢭ࣎ࢵࢺࡣ⮬ື㌴࡟ẚ࡭ࡼࡾከᵝ࡞⎔ቃࢆㄆ㆑ࡍࡿᚲせࡀ࠶ࡿࡀ㸪⛣ື㏿ᗘࡀ㐜࠸ࡓࡵฎ⌮࡟࠶ࡿ⛬ᗘ᫬㛫ࢆ࠿ࡅࡽࢀࡿࡇ࡜㸪ே≀ಶูࡢ᝟ሗࢆ㟁Ἴ➼࡟ࡼࡗ࡚ᚓࡿࡇ࡜ࡶྍ⬟࡛࠶ࡿࡇ࡜࡞࡝᭷฼࡞Ⅼࡶ࠶ࡿࠋ୍᪉㸪⮬ື㐠㌿࡛ࡣྍ⬟࡞⎔ቃ࣭≧ἣࡣ୍⯡࡟㐨㊰ୖ࡟㝈ᐃ࡛ࡁࡿࡀ㸪⛣ື㏿ᗘࡀ኱ࡁ࠸ࡓࡵ
㧗㏿ฎ⌮ࡸ㐲᪉ࡢࢹ࣮ࢱࡢฎ⌮ࡀᚲせ࡜࡞ࡿࠋࡇࢀࡽࡢ㐪࠸ࢆ༑ศ࡟ㄆ㆑ࡋࡘࡘ㸪ᢏ⾡ࡢඹ㏻໬࡜ಶ
ู໬ࢆ⾜ࡗ࡚࠸ࡃᚲせࡀ࠶ࡿ࡜⪃࠼ࡽࢀࡿࠋ ࡞࠾㸪ᮏ✏࡛⤂௓ࡋࡓ◊✲ࢆ➹⪅࡜ඹྠ࡛⾜ࡗࡓ㇏ᶫᢏ⾡⛉Ꮫ኱Ꮫ⾜ື▱⬟ࢩࢫࢸ࣒Ꮫ◊✲ᐊࡢ IgiArdiyanto㸪㇂ᆅ୰ᏹᇶ㸪୕ᰨ୍ᇛ㸪ᑠฟ೺ྖ㸪ἼᖹຬẼࡢྛྩ࡟ឤㅰࡍࡿࠋཧ⪃ᩥ⊩
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