{"created":"2024-04-01T05:11:58.121876+00:00","id":2001219,"links":{},"metadata":{"_buckets":{"deposit":"e3ccc3ab-8d1b-4f50-97a0-4421ddba0688"},"_deposit":{"created_by":10,"id":"2001219","owner":"10","owners":[10],"pid":{"revision_id":0,"type":"depid","value":"2001219"},"status":"published"},"_oai":{"id":"oai:kansai-u.repo.nii.ac.jp:02001219","sets":["528:1588:1589:1591","63:69"]},"author_link":["34919","1772","53980","2440","1775"],"control_number":"2001219","item_9_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2023-12-20","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"6","bibliographicPageEnd":"1614","bibliographicPageStart":"1604","bibliographicVolumeNumber":"35","bibliographic_titles":[{"bibliographic_title":"Journal of Robotics and Mechatronics","bibliographic_titleLang":"en"}]}]},"item_9_description_4":{"attribute_name":"概要","attribute_value_mlt":[{"subitem_description":"Many teams participating in robotic competitions achieve localization using a 2D map plotted using adaptive Monte Carlo localization, a robot operating system (ROS) open-source software program. However, outdoor environments often include nonlevel terrain such as slopes. In the indoor environment of multilevel structures, the data representing different levels overlap on the map. These factors can lead to localization failures. To resolve this problem, we develop a software by combining HDL localization, which is an ROS open-source software, with our own program, and use it to achieve localization based on a 3D map. Furthermore, the authors observe the erroneous recognition of a slope as a forward obstacle during a competition event. To resolve this, we propose a method to correct erroneous recognition of obstacles using a 2D laser range finder and 3D map and confirm its validity in an experiment carried out on a slope on a university campus.","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_9_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"This study was partially funded under the research theme “Practical World Service Innovations through AI Robot Challenges” under FY2022 funds to promote advancements in educational research at Kansai University.","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_9_publisher_34":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Fuji Technology Press Ltd","subitem_publisher_language":"en"},{"subitem_publisher":"富士技術出版株式会社","subitem_publisher_language":"ja"}]},"item_9_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.20965/jrm.2023.p1604","subitem_relation_type_select":"DOI"}}]},"item_9_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA10809998","subitem_source_identifier_type":"NCID"}]},"item_9_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"09153942","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"18838049","subitem_source_identifier_type":"EISSN"}]},"item_9_version_type_17":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open 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Tomokazu","creatorNameLang":"en"},{"creatorName":"高橋, 智一","creatorNameLang":"ja"}],"familyNames":[{"familyName":"高橋","familyNameLang":"ja"},{"familyName":"Takahashi","familyNameLang":"en"}],"givenNames":[{"givenName":"智一","givenNameLang":"ja"},{"givenName":"Tomokazu","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"1772","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"20581648","nameIdentifierScheme":"e-Rad_Researcher","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000020581648"}]},{"creatorNames":[{"creatorName":"Mae, Yasushi","creatorNameLang":"en"},{"creatorName":"前, 泰志","creatorNameLang":"ja"}],"familyNames":[{"familyName":"前","familyNameLang":"ja"},{"familyName":"Mae","familyNameLang":"en"}],"givenNames":[{"givenName":"泰志","givenNameLang":"ja"},{"givenName":"Yasushi","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"53980","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"50304027","nameIdentifierScheme":"e-Rad_Researcher","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000050304027"}]},{"creatorNames":[{"creatorName":"Arai, Yasuhiko","creatorNameLang":"en"},{"creatorName":"新井, 泰彦","creatorNameLang":"ja"}],"familyNames":[{"familyName":"新井","familyNameLang":"ja"},{"familyName":"Arai","familyNameLang":"en"}],"givenNames":[{"givenName":"泰彦","givenNameLang":"ja"},{"givenName":"Yasuhiko","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2440","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"80131415","nameIdentifierScheme":"e-Rad_Researcher","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000080131415"}]},{"creatorNames":[{"creatorName":"Aoyagi, Seiji","creatorNameLang":"en"},{"creatorName":"青柳, 誠司","creatorNameLang":"ja"}],"familyNames":[{"familyName":"青柳","familyNameLang":"ja"},{"familyName":"Aoyagi","familyNameLang":"en"}],"givenNames":[{"givenName":"誠司","givenNameLang":"ja"},{"givenName":"Seiji","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"1775","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"30202493","nameIdentifierScheme":"e-Rad_Researcher","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000030202493"},{"nameIdentifier":"0000-0003-0177-7316","nameIdentifierScheme":"ORCID iD","nameIdentifierURI":"https://orcid.org/0000-0003-0177-7316"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2024-04-01"}],"displaytype":"detail","filename":"KU-0020-20231220-20.pdf","filesize":[{"value":"5.5 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University","subitem_subject_language":"en","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":"Proposal for Navigation System Using Three-Dimensional Maps : Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Proposal for Navigation System Using Three-Dimensional Maps : Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map","subitem_title_language":"en"}]},"item_type_id":"9","owner":"10","path":["69","1591"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-04-01"},"publish_date":"2024-04-01","publish_status":"0","recid":"2001219","relation_version_is_last":true,"title":["Proposal for Navigation System Using Three-Dimensional Maps : Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map"],"weko_creator_id":"10","weko_shared_id":-1},"updated":"2024-10-24T03:06:10.290645+00:00"}