{"id":663,"date":"2021-04-02T06:37:26","date_gmt":"2021-04-02T06:37:26","guid":{"rendered":"https:\/\/www.kudan.io\/jp\/?p=663"},"modified":"2021-04-02T06:59:36","modified_gmt":"2021-04-02T06:59:36","slug":"kudan-3d-lidar-slam%e6%8a%80%e8%a1%93%e3%82%a2%e3%83%83%e3%83%97%e3%83%87%e3%83%bc%e3%83%88-%e9%99%90%e3%82%89%e3%82%8c%e3%81%9f%e8%a6%96%e9%87%8e%e8%a7%92%e3%81%ab%e3%81%8a%e3%81%91%e3%82%8b","status":"publish","type":"post","link":"https:\/\/www.kudan.io\/jp\/archives\/663","title":{"rendered":"Kudan 3D-Lidar SLAM\u6280\u8853\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8: \u9650\u3089\u308c\u305f\u8996\u91ce\u89d2\u306b\u304a\u3051\u308b\u4f4e\u4fa1\u683cLidar\u30b9\u30da\u30c3\u30af\u3067\u306eSLAM"},"content":{"rendered":"<p>\u524d\u56de\u306e\u6280\u8853\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3067\u306f\u3001Kudan 3D-Lidar SLAM (KdLidar)\u203b \u306e\u30bb\u30f3\u30b5\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306b\u5bfe\u3059\u308b\u5b89\u5b9a\u6027\u3068\u67d4\u8edf\u6027\u306b\u95a2\u3059\u308b\u3082\u306e\u3067\u3057\u305f\u304c\u3001\u4eca\u56de\u306fKdLidar\u306eLidar\u306e\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u306b\u5bfe\u3059\u308b\u67d4\u8edf\u6027\u306e\u9ad8\u3055\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" class=\"size-full wp-image-665 aligncenter\" src=\"https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Release-pic-1.png\" alt=\"\" width=\"1719\" height=\"1026\" srcset=\"https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Release-pic-1.png 1719w, https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Release-pic-1-300x179.png 300w, https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Release-pic-1-1024x611.png 1024w, https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Release-pic-1-768x458.png 768w, https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Release-pic-1-1536x917.png 1536w\" sizes=\"(max-width: 1719px) 100vw, 1719px\" \/><\/p>\n<h2><strong><span style=\"text-decoration: underline;\">Lidar\u306e\u30bf\u30a4\u30d7\u30683D-Lidar SLAM\u306e\u6027\u80fd\u306e\u95a2\u4fc2<\/span><\/strong><\/h2>\n<p>\u81ea\u52d5\u904b\u8ee2\u30fb\u81ea\u5f8b\u8d70\u884c\u306a\u3069\u306e\u9069\u7528\u4e8b\u4f8b\u304c\u62e1\u5927\u3057\u3001\u9700\u8981\u304c\u62e1\u5927\u3059\u308b\u3053\u3068\u3067\u3001\u5f93\u6765\u306e\u6a5f\u68b0\u56de\u8ee2\u5f0f\u306e\u3082\u306e\u3060\u3051\u3067\u306a\u304f\u3001\u69d8\u3005\u306a\u30d3\u30fc\u30e0\u5c04\u51fa\u30fb\u8d70\u67fb\u65b9\u5f0f\u306e3D-Lidar\u304c\u5e02\u5834\u306b\u6295\u5165\u3055\u308c\u3066\u3044\u307e\u3059\u3002SLAM\u306b\u7528\u3044\u308bLidar\u3068\u3057\u3066\u306e\u9069\u6027\u3092\u307f\u308b\u3046\u3048\u3067\u306f\u3001\u7279\u306b\u6b21\u306e4\u3064\u306e\u8981\u7d20\u304c\u91cd\u8981\u3068\u306a\u308a\u307e\u3059\uff08\u4e0b\u56f3\u53c2\u7167\uff09\u3002<\/p>\n<p>\uff11\uff09Range\uff08\u30ec\u30fc\u30b6\u30fc\u5c04\u7a0b\uff09<br \/>\n\uff12\uff09Spatial resolution\uff08\u7a7a\u9593\u5206\u89e3\u80fd\uff09<br \/>\n\uff13\uff09Field of View (\u8996\u91ce\u89d2\uff1aFoV)<br \/>\n\uff14\uff09Frame rate\uff08\u30d5\u30ec\u30fc\u30e0\u30ec\u30fc\u30c8\uff09<\/p>\n<p><img loading=\"lazy\" class=\"size-full wp-image-664 aligncenter\" src=\"https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Lidar-features.png\" alt=\"\" width=\"816\" height=\"354\" srcset=\"https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Lidar-features.png 816w, https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Lidar-features-300x130.png 300w, https:\/\/www.kudan.io\/jp\/wp-content\/uploads\/sites\/3\/2021\/04\/Lidar-features-768x333.png 768w\" sizes=\"(max-width: 816px) 100vw, 816px\" \/><\/p>\n<p>\uff11\uff09<strong>Range\uff08\u30ec\u30fc\u30b6\u30fc\u5c04\u7a0b\uff09<\/strong>: Lidar\u306e\u5c04\u7a0b\u306f\u88fd\u54c1\u306b\u3088\u3063\u3066\u306f50m\u672a\u6e80\u306e\u3082\u306e\u3082\u3042\u308c\u3070\u3001200m\u3092\u8d85\u3048\u308b\u3082\u306e\u3082\u3042\u308a\u307e\u3059\u3002\u5c04\u7a0b\u304c\u9577\u3051\u308c\u3070\u9577\u3044\u307b\u3069\u3001\u5468\u56f2\u306e\u69d8\u3005\u306a\u69cb\u9020\u7269\u306e\u60c5\u5831\u3092\u53d6\u5f97\u3067\u304d\u308b\u305f\u3081\u3001SLAM\u7528\u9014\u306b\u9069\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\uff12\uff09<strong>Spatial resolution\uff08\u7a7a\u9593\u5206\u89e3\u80fd\uff09<\/strong>: \u3053\u308c\u306f\u3001\u3069\u308c\u3060\u3051\u5bc6\u306a\u70b9\u7fa4\u3092\u751f\u6210\u3067\u304d\u308b\u304b\u3092\u793a\u3059\u6307\u6a19\u3067\u3059\u3002\u3088\u308a\u9ad8\u3044\u5206\u89e3\u80fd\u3067\u3042\u308c\u3070\u3001\u5468\u8fba\u306e\u69cb\u9020\u3092\u3088\u308a\u7cbe\u7dfb\u306b\u6349\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u3001SLAM\u306b\u9069\u3057\u305f\u70b9\u7fa4\u3092\u751f\u6210\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\uff13\uff09<strong>FoV\uff08\u8996\u91ce\u89d2\uff09<\/strong>: \u6c34\u5e73\u65b9\u5411\u3068\u5782\u76f4\u65b9\u5411\u3001\u4e21\u65b9\u306e\u8996\u91ce\u89d2\u304c\u91cd\u8981\u306b\u306a\u308a\u307e\u3059\u3002\u6a5f\u68b0\u56de\u8ee2\u5f0f\u306eLidar\u3067\u3042\u308c\u3070\u6c34\u5e73\u65b9\u5411\u8996\u91ce\u89d2\u306f360\u00b0\u3068\u306a\u308a\u3001SLAM\u306b\u306f\u6700\u3082\u9069\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\uff14\uff09<strong>Frame rate\uff08\u30d5\u30ec\u30fc\u30e0\u30ec\u30fc\u30c8\uff09<\/strong>: Lidar\u304c\uff11\u79d2\u9593\u306b\u3088\u308a\u983b\u7e41\u306b\u70b9\u7fa4\u3092\u30b9\u30ad\u30e3\u30f3\u30fb\u751f\u6210\u3067\u304d\u308c\u3070\u3001\u305d\u308c\u3060\u3051\u5404\u30b9\u30ad\u30e3\u30f3\u9593\u306e\u70b9\u7fa4\u306e\u5909\u5316\u306f\u5c0f\u3055\u304f\u306a\u308a\u3001\u3088\u308a\u6b63\u78ba\u306b\u30bb\u30f3\u30b5\u306e\u52d5\u304d\u3092\u628a\u63e1\u3067\u304d\u3001SLAM\u306b\u9069\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u4e0a\u8a18\u306f\u3001\u3042\u308b\u4eba\u304c\u3001\u3044\u304f\u3064\u304b\u7a74\u306e\u958b\u3044\u305f\u9ed2\u3044\u5e03\u3067\u8986\u308f\u308c\u305f\u70b9\u6ec5\u3059\u308b\u61d0\u4e2d\u96fb\u706f\u3092\u6301\u3063\u3066\u3001\u6697\u95c7\u306e\u4e2d\u3092\u6b69\u3044\u3066\u3044\u304f\u3053\u3068\u306b\u4f8b\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u6697\u95c7\u3067\u3001\u61d0\u4e2d\u96fb\u706f\u306e\u5149\u304c\u9060\u304f\u307e\u3067\u5c4a\u304f\u307b\u3069\uff08\u30ec\u30fc\u30b6\u30fc\u5c04\u7a0b\uff09\u3001\u305d\u3057\u3066\u3001\u3088\u308a\u591a\u304f\u306e\u7a74\u304c\u9ed2\u3044\u5e03\u306b\u7a7a\u3044\u3066\u3044\u3066\u5149\u3092\u901a\u3059\u307b\u3069\uff08\u7a7a\u9593\u5206\u89e3\u80fd\uff09\u3001\u5468\u56f2\u306e\u8a8d\u8b58\u3092\u884c\u3044\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002\u307e\u305f\u3001\u3082\u3061\u308d\u3093\u5149\u304c\u5c4a\u304f\u7bc4\u56f2\u304c\u5e83\u3044\u307b\u3069\uff08FoV\uff09\u3001\u305d\u3057\u3066\uff11\u79d2\u306b\uff11\u56de\u70b9\u6ec5\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff11\u79d2\u306b\uff11\uff10\u56de\u70b9\u6ec5\u3059\u308b\u3088\u3046\u306b\u983b\u7e41\u306b\u5149\u308b\u307b\u3069\uff08\u30d5\u30ec\u30fc\u30e0\u30ec\u30fc\u30c8\uff09\u3001\u540c\u69d8\u306b\u5468\u56f2\u306e\u8a8d\u8b58\u304c\u884c\u3044\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u3057\u304b\u3057\u3001SLAM\u9069\u6027\u3068\u3044\u3046\u89b3\u70b9\u3060\u3051\u3067\u307f\u308b\u3068\u3001\u3053\u308c\u3089\u306e\u8981\u4ef6\u3092\u5168\u3066\u6e80\u305f\u3059\u3088\u3046\u306aLidar\u304c\u7406\u60f3\u7684\u3067\u3042\u308b\u3082\u306e\u306e\u3001\u305d\u306e\u3088\u3046\u306aLidar\u306f\u975e\u5e38\u306b\u9ad8\u4fa1\u306a\u3082\u306e\u3068\u306a\u308a\u3001\u591a\u304f\u306e\u9069\u7528\u4e8b\u4f8b\u3067\u306f\u30b3\u30b9\u30c8\u306e\u89b3\u70b9\u3067\u73fe\u5b9f\u7684\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u305d\u306e\u3088\u3046\u306a\u72b6\u6cc1\u306b\u304a\u3044\u3066\u306f\u3001SLAM\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u6027\u80fd\u3067\u3001Lidar\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u81ea\u4f53\u306e\u30b9\u30da\u30c3\u30af\u3092\u88dc\u3044\u3001\u9069\u7528\u4e8b\u4f8b\u306b\u898b\u5408\u3063\u305f\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u7cbe\u5ea6\u30fb\u5b89\u5b9a\u6027\u3092\u5b9f\u73fe\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<h2><span style=\"text-decoration: underline;\"><strong>KdLidar\u306eLidar\u30bf\u30a4\u30d7\u3084\u30b9\u30da\u30c3\u30af\u306b\u304a\u3051\u308b\u67d4\u8edf\u6027<\/strong><\/span><\/h2>\n<p>\u4e0b\u8a18\u306e\u52d5\u753b\u3067\u306f\u3001Livox\u793e\u306eHorizon\u3068\u3044\u3046\u30e2\u30c7\u30eb\u3092\u7528\u3044\u3066\u53ce\u96c6\u3057\u305f\u30c7\u30fc\u30bf\u3092KdLidar\u306b\u5165\u529b\u3057\u3001SLAM\u3092\u884c\u3044\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u3068\u70b9\u7fa4\u5730\u56f3\u4f5c\u6210\u3092\u884c\u3063\u3066\u3044\u307e\u3059(\u3053\u306e\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306fLivox\u793e\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u3067\u5165\u624b\u53ef\u80fd\u3067\u3059\uff09\u3002\u3053\u306eLidar\u30e2\u30c7\u30eb\u306f\u3001\u4ed6\u306eLidar\u306b\u6bd4\u3079\u3066\u3082\u975e\u5e38\u306b\u4f4e\u4fa1\u683c\u3067\u3042\u308b\u4e00\u65b9\u3001FoV\uff08\u8996\u91ce\u89d2\uff09\u306f \u6c34\u5e73\u65b9\u541181.7\u00b0\u00d7 \u5782\u76f4\u65b9\u541125.1\u00b0\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8996\u91ce\u89d2\u3068\u3044\u3046\u89b3\u70b9\u3067\u306f\u3001SLAM\u7528\u9014\u306e\u4f7f\u7528\u304c\u96e3\u3057\u3044Lidar\u3068\u3044\u3048\u307e\u3059\u3002\u3053\u306e\u52d5\u753b\u3067\u306f\u3001KdLidar\u304c\u3053\u306e\u8996\u91ce\u89d2\u306e\u9650\u3089\u308c\u305fLidar\u306b\u304a\u3044\u3066\u3082\u5b89\u5b9a\u3057\u3066\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u3092\u884c\u3044\u3001Lidar\u3092\u642d\u8f09\u3057\u305f\u81ea\u52d5\u8eca\u306e\u7d30\u304b\u3044\u52d5\u304d\u3082\u6b63\u78ba\u306b\u518d\u73fe\u3057\u3066\u3044\u308b\u69d8\u5b50\u304c\u5206\u304b\u308a\u307e\u3059\u3002\u307e\u305f\u3001\u3053\u3061\u3089\u306e\u30c7\u30e2\u306f\u3001GPS\u3084 Inertial Measurement Unit (IMU)\u3068\u3044\u3063\u305f\u4ed6\u306e\u30bb\u30f3\u30b5\u306e\u88dc\u52a9\u306a\u3057\u306b\u884c\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>Livox\u793e\u306eHorizon\u30bb\u30f3\u30b5\u3092\u4f7f\u3063\u305fKdLidar\u306e\u30c7\u30e2\u52d5\u753b\uff1a<\/p>\n<p><iframe loading=\"lazy\" title=\"Kudan Lidar SLAM: with Livox Horizon on their parking area dataset\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/gRjD5_QBrhU?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<p><strong>KdLidar\u306f\u3001\u305d\u308c\u305e\u308c\u306eLidar\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u306e\u6027\u80fd\u3092\u6700\u5927\u9650\u6d3b\u7528\u3057\u306a\u304c\u3089\u3001\u3088\u308a\u6b63\u78ba\u304b\u3064\u5b89\u5b9a\u3057\u305f\u4f4d\u7f6e\u63a8\u5b9a\u306e\u63d0\u4f9b\u304c\u53ef\u80fd\u306a\u3046\u3048\u3001\u30e6\u30fc\u30b9\u30b1\u30fc\u30b9\u306e\u8981\u4ef6\u3092\u6e80\u305f\u3057\u3064\u3064\u3001\u3088\u308a\u5b89\u4fa1\u306aLidar\u306e\u4f7f\u7528\u3092\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002<\/strong>\u3053\u306e\u3088\u3046\u306aLidar\u30bf\u30a4\u30d7\u3084\u30b9\u30da\u30c3\u30af\u3078\u306e\u67d4\u8edf\u6027\u306e\u9ad8\u3055\u306b\u3088\u3063\u3066\u3001\u3088\u308a\u69d8\u3005\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3084\u81ea\u52d5\u904b\u8ee2\u3001\u30de\u30c3\u30d4\u30f3\u30b0\uff06\u30b5\u30fc\u30d9\u30a4\u306a\u3069\u306e\u9818\u57df\u306b\u304a\u3051\u308bKdLidar\u306e\u5c0e\u5165\u304c\u52a0\u901f\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u203b\uff1a3D-Lidar\u30bb\u30f3\u30b5\u60c5\u5831\u304b\u3089\u5468\u8fba\u74b0\u5883\u30de\u30c3\u30d4\u30f3\u30b0\u3068\u81ea\u5df1\u4f4d\u7f6e\u8a8d\u8b58\u3092\u540c\u6642\u306b\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u884c\u3046\u6280\u8853\u3002Lidar\u306e\u666e\u53ca\u306b\u4f34\u3044\u81ea\u52d5\u904b\u8ee2\u30fb\u81ea\u5f8b\u8d70\u884c\u30fb\u30de\u30c3\u30d4\u30f3\u30b0\u3068\u3044\u3063\u305f\u9818\u57df\u3067\u306e\u6d3b\u7528\u304c\u9032\u3093\u3067\u3044\u308b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u56de\u306e\u6280\u8853\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3067\u306f\u3001Kudan 3D-Lidar SLAM (KdLidar)\u203b \u306e\u30bb\u30f3\u30b5\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306b\u5bfe\u3059\u308b\u5b89\u5b9a\u6027\u3068\u67d4\u8edf\u6027\u306b\u95a2\u3059\u308b\u3082\u306e\u3067\u3057\u305f\u304c\u3001\u4eca\u56de\u306fKdLidar\u306eLidar\u306e\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u306b\u5bfe\u3059\u308b\u67d4\u8edf\u6027\u306e\u9ad8\u3055 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