{"created":"2023-06-20T14:40:28.128043+00:00","id":7352,"links":{},"metadata":{"_buckets":{"deposit":"a9b2a7a9-9cf2-4bed-86ac-41a17c7d4dce"},"_deposit":{"created_by":1,"id":"7352","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7352"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007352","sets":["1543:1544:1554","1887:1891"]},"author_link":["38916","38915","38917","38914","38913","38918"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"月・惑星探査ローバのための地形解析技術"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-03","bibliographicIssueDateType":"Issued"},"bibliographicVolumeNumber":"2009","bibliographic_titles":[{"bibliographic_title":"アストロダイナミクスシンポジウム講演後刷り集"},{"bibliographic_title":"Proceedings of 19th workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_14":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）","attribute_value_mlt":[{"subitem_description":"アストロダイナミクスシンポジウム (2009年7月30-31日. 宇宙航空研究開発機構宇宙科学研究本部))","subitem_description_type":"Other"}]},"item_5_description_15":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）（英）","attribute_value_mlt":[{"subitem_description":"Workshop on JAXA Astrodynamics and Flight Mechanics, 2009 (July 30-31, 2009. Institute of Space and Astronautical Science (ISAS), Japan Aerospace Exploration Agency (JAXA)), Sagamihara, Kanagawa Japan","subitem_description_type":"Other"}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本論文では，月・惑星探査ローバが自律移動を安全に行うための重要な要素となる，周辺環境の地形計測とその解析方法について述べる．最初に，惑星探査ミッションにおいて，ローバーミッションの効率化を計るための自律移動機能の重要性と，そのためのシステム構成について述べる．一般的な岩石などの障害物の検出だけではなく，ローバの環境認識においてより重要となる，不整地における地形の凹凸や傾斜等の解析・評価手法について述べる．またそれに基づいたローバの動作計画について述べ，従来のローバシステムと比較し，議論する．","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper describes novel map representation called Inclined Surface Grid (ISG) maps that provides the ability of modeling traversability of environment. In order to accomplish safer navigation autonomously by mobile robot with avoiding hazardous area, appropriate traversability of the terrain has to be evaluated. In the ISG maps, the patch on each grid stores not only traversability but more detail information - height, slopes (roll and pitch angle) and roughness. The probabilistically updating using stereo vision specified error model is introduced to estimate the information of each patch. Thus the probabilistic updating allows the ISG maps to yield few failed patches. It is shown that our approach also can create the traversability map in rough terrain.","subitem_description_type":"Other"}]},"item_5_description_18":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形態: カラー図版あり","subitem_description_type":"Other"}]},"item_5_description_19":{"attribute_name":"内容記述（英）","attribute_value_mlt":[{"subitem_description":"Physical characteristics: Original contains color illustrations","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0064734047","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)"}]},"item_5_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11567475","subitem_source_identifier_type":"NCID"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"明治大学"},{"subitem_text_value":"明治大学"},{"subitem_text_value":"明治大学"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Meiji University"},{"subitem_text_language":"en","subitem_text_value":"Meiji University"},{"subitem_text_language":"en","subitem_text_value":"Meiji University"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"斉藤, 哲平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"鈴木, 正隆"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"黒田, 洋司"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Saito, Teppei","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Suzuki, Masataka","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kuroda, Yoji","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Terrain Mapping","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Rover Navigation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Vision System","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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Terrain Analysis for Lunar/Planetary Surface Exploration","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Terrain Analysis for Lunar/Planetary Surface Exploration","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1554","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7352","relation_version_is_last":true,"title":["Terrain Analysis for Lunar/Planetary Surface Exploration"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:40:50.804983+00:00"}