{"created":"2023-06-20T14:40:32.016572+00:00","id":7430,"links":{},"metadata":{"_buckets":{"deposit":"948492ad-6ec6-48f8-aca8-c644e3389a7f"},"_deposit":{"created_by":1,"id":"7430","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7430"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007430","sets":["1543:1544:1555","1887:1891"]},"author_link":["39520","39522","39521","39524","39523"],"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"353","bibliographicPageStart":"348","bibliographicVolumeNumber":"2008","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 18th workshop on JAXA Astrodynamics and flight mechanics","bibliographic_titleLang":"en"}]}]},"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":"Symposium on Flight Mechanics and Astrodynamics 2008 (July 28-29, 2008. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)), Sagamihara, Kanagawa Japan","subitem_description_type":"Other"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"On the surface of an asteroid, the mobility of a robotic explorer will be affected by the low-gravity environment. Wheeled rovers are expected to be less effective due to reduced traction. Hopping has been proposed as an alternative mechanism for locomotion, because rough terrain can be traversed efficiently.  ","subitem_description_type":"Other"},{"subitem_description":"  Robotic exploration on the remote surface of an asteroid will require autonomous navigation, for which accurate localization is an essential element. With conventional wheeled rovers, odometry is a simple and widely-used localization technique. However, with a hopping rover, no such inherent method exists. The authors are thus investigating the use of computer vision to perform fast and accurate relative localization.  ","subitem_description_type":"Other"},{"subitem_description":"  A hopping rover is typically small and compact, with all its instruments enclosed within its body to protect them from impact upon landing. As a result, only a very limited baseline is available for stereo vision. Thus, the authors are focusing on a monocular system. With a single camera, relative motion can be recovered using optical flow, which is part of the Structure-from-Motion (SfM) problem. The slow speed and static environment on an asteroid surface are particularly favorable conditions that should allow this method to produce useful results.","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: AA0064733056","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":"総合研究大学院大学物理科学研究科宇宙科学専攻"},{"subitem_text_value":"宇宙航空研究開発機構宇宙科学研究本部"},{"subitem_text_value":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"The Graduate University for Advanced Studies School of Physical Sciences, Department of Space and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)"},{"subitem_text_language":"en","subitem_text_value":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)"}]},"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":"吉光, 徹雄"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"So, Edmond Wai Yan","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshimitsu, Tetsuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kubota, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"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":"Relative Localization of a Hopping Rover on an Asteroid Surface Motion Estimation using Optical Flow","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Relative Localization of a Hopping Rover on an Asteroid Surface Motion Estimation using Optical Flow","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1555","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7430","relation_version_is_last":true,"title":["Relative Localization of a Hopping Rover on an Asteroid Surface Motion Estimation using Optical Flow"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:39:38.835034+00:00"}