{"id":85,"date":"2020-05-18T15:00:12","date_gmt":"2020-05-18T15:00:12","guid":{"rendered":"http:\/\/54.178.109.219.xip.io\/jp\/?p=85"},"modified":"2020-07-28T19:40:17","modified_gmt":"2020-07-28T19:40:17","slug":"%e3%83%a1%e3%83%87%e3%82%a3%e3%82%a2","status":"publish","type":"post","link":"https:\/\/www.kudan.io\/jp\/archives\/85","title":{"rendered":"Kudan\u3068\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u30013D SLAM\u306e\u30c7\u30e2\u30f3\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30bd\u30d5\u30c8\u3092\u5171\u540c\u958b\u767a\u3002Kudan SLAM\u304c\u540c\u793e\u88fd\u54c1\u642d\u8f09\u306eToF\u30ab\u30e1\u30e9\u306b\u5bfe\u5fdc"},"content":{"rendered":"

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\"\"<\/p>\n

KudanSLAM\u642d\u8f09\u306e\u30c7\u30e2\u30f3\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30bd\u30d5\u30c8\u306f\u3001\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u304c\u63d0\u4f9b\u3059\u308b\u30d1\u30fc\u30c8\u30ca\u30fc\u793e\u88fd\u306eToF\u30ab\u30e1\u30e9\u306e\u30b5\u30dd\u30fc\u30c8\u304c\u53ef\u80fd\u3067\u3059\u3002\u73fe\u5728\u306f\u3001\u682a\u5f0f\u4f1a\u793e\u30b7\u30fc\u30a2\u30a4\u30a8\u30b9\uff08\u672c\u793e\uff1a\u6771\u4eac\u90fd\u516b\u738b\u5b50\u5e02\u3001\u4ee3\u8868\u53d6\u7de0\u5f79\u793e\u9577\uff1a\u6751\u5ca1\u7950\u8f14\u3001\u4ee5\u4e0bCIS\uff09\u306eToF\u30ab\u30e1\u30e9\u3068GitHub\u3067\u516c\u958b\u3057\u3066\u3044\u308bROS\u30c9\u30e9\u30a4\u30d0\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u3067\u3001Kudan\u304c\u63d0\u4f9b\u3059\u308b3D SLAM\u306e\u8a55\u4fa1\u304c\u53ef\u80fd\u3068\u306a\u308a\u307e\u3057\u305f\u3002\u307e\u305f\u3001\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u7b49\u306bToF\u30ab\u30e1\u30e9\u3092\u642d\u8f09\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001RGB\u30ab\u30e1\u30e9\u304c\u82e6\u624b\u3068\u3059\u308b\u6697\u6240\u306e\u74b0\u5883\u3067\u306e\u64ae\u5f71\u3067\u30823D SLAM\u306e\u52d5\u4f5c\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306f\u3001ROS\u4e0a\u3067\u4f7f\u7528\u53ef\u80fd\u306a\u305f\u3081\u3001\u958b\u767a\u671f\u9593\u306e\u77ed\u7e2e\u304c\u671f\u5f85\u3067\u304d\u308b\u307b\u304b\u3001ToF\u306e\u7279\u6027\u3092\u751f\u304b\u3057\u305f\u969c\u5bb3\u7269\u691c\u77e5\u30683D SLAM\u3092\u540c\u4e00\u30c7\u30d0\u30a4\u30b9\u3067\u5b9f\u73fe\u3067\u304d\u308b\u306a\u3069\u3001\u30ed\u30dc\u30c3\u30c8\u958b\u767a\u8005\u3084\u81ea\u52d5\u904b\u8ee2\u6280\u8853\u306e\u7814\u7a76\u8005\u3078\u591a\u304f\u306e\u30e1\u30ea\u30c3\u30c8\u3092\u63d0\u4f9b\u3067\u304d\u307e\u3059\u3002<\/p>\n

KudanSLAM\u306f\u3001\u7a7a\u9593\u30fb\u7acb\u4f53\u8a8d\u8b58\u6280\u8853\u300cSLAM\u300d\u3092\u72ec\u81ea\u306b\u7814\u7a76\u958b\u767a\u3057\u305f\u7d50\u679c\u751f\u307e\u308c\u305f\u6280\u8853\u3067\u3059\u3002\u9ad8\u901f\u304b\u3064\u4f4e\u8ca0\u8377\u3067\u3042\u308a\u306a\u304c\u3089\u3001\u30ab\u30e1\u30e9\u3084LiDAR\u30fbToF\u7b49\u306e\u6df1\u5ea6\u30bb\u30f3\u30b5\u30fc\u3068\u3044\u3063\u305f\u30bb\u30f3\u30b5\u30fc\u60c5\u5831 (\u5165\u529b) \u304b\u3089\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b\u30c7\u30d0\u30a4\u30b9\u306e\u81ea\u5df1\u4f4d\u7f6e\u8a8d\u8b58\u3068\u5468\u56f2\u306e\u4e09\u6b21\u5143\u5730\u56f3\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u3002\u307e\u305f\u3001\u5b9f\u7528\u6027\u3068\u6c4e\u7528\u6027\u3092\u5f37\u307f\u306b\u3001\u5e45\u5e83\u3044\u30c7\u30d0\u30a4\u30b9\u53c8\u306f\u30e6\u30fc\u30b9\u30b1\u30fc\u30b9\u306b\u5408\u308f\u305b\u3001\u30d7\u30ed\u30bb\u30c3\u30b5\u3001OS\u3001\u30bb\u30f3\u30b5\u30fc\u7b49\u306e\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3092\u67d4\u8edf\u306b\u7d44\u5408\u305b\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002<\/p>\n

\u4eca\u56de\u4f7f\u7528\u3057\u3066\u3044\u308bCIS\u306eToF\u30ab\u30e1\u30e9\u306b\u306f\u3001\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u306e\u30a2\u30ca\u30ed\u30b0\u30fb\u30d5\u30ed\u30f3\u30c8\u30fb\u30a8\u30f3\u30c9\u304c\u63a1\u7528\u3055\u308c\u3066\u304a\u308a\u3001\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u5206\u89e3\u80fd\u306bToF\u30a4\u30e1\u30fc\u30b8\u30f3\u30b0\u30fb\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u5b9f\u73fe\u3067\u304d\u308b\u3053\u3068\u304c\u6700\u5927\u306e\u7279\u9577\u3067\u3059\u3002
\n\uff08\u203b\u8a73\u7d30\u60c5\u5831\u306f\u3053\u3061\u3089\uff1ahttps:\/\/bit.ly\/3czO4PI<\/a>\uff09<\/p>\n

\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u306eIHC\u30bd\u30ea\u30e5\u30fc\u30b7\u30e7\u30f3\uff06\u30c6\u30af\u30ce\u30ed\u30b8\u30fc \u30b7\u30cb\u30a2\u30d5\u30a3\u30fc\u30eb\u30c9\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30a8\u30f3\u30b8\u30cb\u30a2\u3000\u9580\u5ddd\u8cb4\u5f66\u6c0f\u306e\u30b3\u30e1\u30f3\u30c8<\/strong>
\n\u300cKudan\u306e\u9ad8\u901f\u3067\u4f4e\u8ca0\u8377\u306aSLAM\u6280\u8853\u306b\u6ce8\u76ee\u3057\u3001\u5f0a\u793e\u306e\u9ad8\u7cbe\u5ea6\u306aToF\u30bd\u30ea\u30e5\u30fc\u30b7\u30e7\u30f3\u3068\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u3001\u65b0\u305f\u306a\u30d3\u30b8\u30cd\u30b9\u30c1\u30e3\u30f3\u30b9\u3068\u4ed8\u52a0\u4fa1\u5024\u306e\u5275\u9020\u3092\u671f\u5f85\u3057\u3066\u3044\u307e\u3059\u3002\u66f4\u306b\u30013D SLAM\u3092\u5229\u7528\u3057\u305f\u81ea\u5f8b\u8d70\u884c\u3084\u81ea\u52d5\u904b\u8ee2\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u958b\u767a\u3068\u3001\u9ad8\u7cbe\u5ea6\u306a\u8ddd\u96e2\u8a08\u6e2c\u30bd\u30ea\u30e5\u30fc\u30b7\u30e7\u30f3\u306e\u958b\u767a\u3092\u4e26\u884c\u3057\u3066\u63a8\u9032\u3059\u308b\u3053\u3068\u3067\u3001\u5e02\u5834\u304b\u3089\u306e\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u65e9\u671f\u306b\u7372\u5f97\u3057\u3001\u5c06\u6765\u306e\u30bd\u30ea\u30e5\u30fc\u30b7\u30e7\u30f3\u958b\u767a\u306b\u53cd\u6620\u3057\u305f\u3044\u3068\u8003\u3048\u3066\u3044\u307e\u3059\u3002\u300d<\/p>\n

Kudan\u306e\u4e8b\u696d\u958b\u767a\u30b7\u30cb\u30a2\u30de\u30cd\u30fc\u30b8\u30e3\u30fc\u3000\u5343\u8449\u609f\u53f2\u306e\u30b3\u30e1\u30f3\u30c8<\/strong>
\n\u300c\u73fe\u5728\u3001\u5168\u4e16\u754c\u7684\u306b\u4eba\u306e\u5bc6\u96c6\u3092\u907f\u3051\u308b\u305f\u3081\u3001\u81ea\u5f8b\u79fb\u52d5\u53ef\u80fd\u306a\u30ed\u30dc\u30c3\u30c8\u304c\u6c42\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002\u305d\u306e\u306a\u304b\u3067\u3001SLAM\u306f\u91cd\u8981\u306a\u69cb\u6210\u8981\u7d20\u3067\u3042\u308a\u3001\u304b\u3064\u3001\u672a\u3060\u30c1\u30e3\u30ec\u30f3\u30b8\u30f3\u30b0\u306a\u6280\u8853\u3067\u3059\u3002\u3053\u306e\u5ea6\u306e\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u793e\u306e\u5354\u529b\u306b\u3088\u308a\u3001ToF\u30ab\u30e1\u30e9\u3067KudanSLAM\u306e\u9ad8\u7cbe\u5ea6\u30fb\u9ad8\u5b89\u5b9a\u6027\u3092\u793a\u3059\u3053\u3068\u304c\u3067\u304d\u308b\u307b\u304b\u3001\u30ed\u30dc\u30c3\u30c8\u958b\u767a\u8005\u306e\u65b9\u3005\u306b\u7c21\u5358\u306b\u8a66\u3057\u3066\u3044\u305f\u3060\u3051\u308b\u74b0\u5883\u304c\u6574\u3063\u305f\u3053\u3068\u306f\u3001\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u9818\u57df\u306b\u304a\u3051\u308b3D SLAM\u5c0e\u5165\u306e\u62e1\u5927\u3092\u63a8\u9032\u3059\u308b\u3082\u306e\u3068\u78ba\u4fe1\u3057\u3066\u304a\u308a\u307e\u3059\u3002\u300d<\/p>\n

\u203b1\uff1aSLAM\uff08Simultaneous Localization and Mapping\uff09
\n\u30bb\u30f3\u30b5\u30fc\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\u3002Kudan\u3067\u306f\u3001LiDAR\u3068\u30ab\u30e1\u30e9\u306e\u4e21\u65b9\u306e\u30bb\u30f3\u30b5\u306b\u3088\u308bSLAM\u6280\u8853\u3092\u4fdd\u6709\u3057\u3066\u304a\u308a\u3001\u3055\u3089\u306b\u305d\u308c\u3089\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u3001\u4f4e\u30ec\u30a4\u30c6\u30f3\u30b7\u30fb\u9ad8\u7cbe\u5ea6\u30fb\u9ad8\u5b89\u5b9a\u6027\u3092\u3055\u3089\u306b\u9ad8\u3081\u308b\u3053\u3068\u306b\u6210\u529f\u3057\u3066\u3044\u308b\u3002<\/p>\n

\u3010\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u306b\u3064\u3044\u3066\u3011
\n<\/strong>\u30a2\u30ca\u30ed\u30b0\u30fb\u30c7\u30d0\u30a4\u30bb\u30ba\u306f1965\u5e74\u306e\u5275\u696d\u4ee5\u6765\u3001\u9ad8\u6027\u80fd\u30a2\u30ca\u30ed\u30b0\u3067\u4e16\u754c\u3092\u30ea\u30fc\u30c9\u3057\u3001\u3055\u307e\u3056\u307e\u306a\u6280\u8853\u7684\u8ab2\u984c\u3092\u89e3\u6c7a\u3057\u3066\u304d\u307e\u3057\u305f\u3002\u4e16\u754c\u306b\u30a4\u30f3\u30d1\u30af\u30c8\u3092\u4e0e\u3048\u308b\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u3092\u5b9f\u73fe\u3059\u308b\u305f\u3081\u306b\u3001\u79c1\u305f\u3061\u306f\u6700\u5148\u7aef\u306e\u30bb\u30f3\u30b7\u30f3\u30b0\u3001\u8a08\u6e2c\u3001\u30d1\u30ef\u30fc\u30de\u30cd\u30b8\u30e1\u30f3\u30c8\u3001\u901a\u4fe1\u3001\u4fe1\u53f7\u51e6\u7406\u6280\u8853\u3067\u3001\u30a2\u30ca\u30ed\u30b0\u3068\u30c7\u30b8\u30bf\u30eb\u3068\u306e\u61f8\u3051\u6a4b\u3068\u306a\u308a\u3001\u4e16\u754c\u306e\u52d5\u304d\u3092\u3042\u308a\u306e\u307e\u307e\u306b\u63cf\u304d\u51fa\u3057\u307e\u3059\u3002
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