{"id":12705,"date":"2024-12-06T14:27:30","date_gmt":"2024-12-06T05:27:30","guid":{"rendered":"https:\/\/blogs.mathworks.com\/japan-community\/?p=12705"},"modified":"2024-12-06T14:27:30","modified_gmt":"2024-12-06T05:27:30","slug":"build-and-deploy-slam-workflows-with-matlab-jp","status":"publish","type":"post","link":"https:\/\/blogs.mathworks.com\/japan-community\/2024\/12\/06\/build-and-deploy-slam-workflows-with-matlab-jp\/","title":{"rendered":"MATLAB \u3067 SLAM \u30ef\u30fc\u30af\u30d5\u30ed\u30fc\u3092\u69cb\u7bc9\u3057\u3066\u5c55\u958b\u3057\u3088\u3046\uff01"},"content":{"rendered":"<p>SLAM \u306e\u57fa\u672c\u3068\u3001\u305d\u308c\u304c\u30ed\u30dc\u30c3\u30c8\u3084\u81ea\u5f8b\u30b7\u30b9\u30c6\u30e0\u3067\u3069\u3093\u306a\u5f79\u5272\u3092\u679c\u305f\u3057\u3066\u3044\u308b\u304b\u3092\u4e00\u7dd2\u306b\u898b\u3066\u307f\u307e\u3057\u3087\u3046\uff01\u305d\u306e\u9053\u306e\u5c02\u9580\u5bb6\u306e Jose Avendano Arbelaez \u304c\u66f8\u3044\u305f\u30d6\u30ed\u30b0\u8a18\u4e8b\u3067\u306f\u3001SLAM \u6280\u8853\u3068\u305d\u306e MATLAB \u3067\u306e\u4f7f\u3044\u65b9\u3092\u30b5\u30af\u30c3\u3068\u7d39\u4ecb\u3057\u3066\u3044\u307e\u3059\u3002\u8a73\u7d30\u306f 11 \u6708 8 \u65e5\u306b\u958b\u50ac\u3055\u308c\u305f\u30a6\u30a7\u30d3\u30ca\u30fc\u300c<a href=\"https:\/\/jp.mathworks.com\/videos\/build-and-deploy-simultaneous-localization-and-mapping-slam-workflows-with-matlab-1731616701202.html\">Build and Deploy SLAM Workflows with MATLAB<\/a>\u300d\u3082\u3054\u89a7\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u203b\u3053\u306e\u6295\u7a3f\u306f 2024 \u5e74 10 \u6708 31 \u65e5\u306b <a href=\"https:\/\/blogs.mathworks.com\/autonomous-systems\/2024\/10\/31\/build-and-deploy-slam-workflows-with-matlab\/?s_tid=srchtitle_site_search_2_slam&amp;from=jp\">Autonomous Systems<\/a> \u3078 \u6295\u7a3f\u3055\u308c\u305f\u3082\u306e\u306e\u6284\u8a33\u3067\u3059\u3002\u672c\u6587\u4e2d\u306b\u51fa\u3066\u304f\u308b\u30e9\u30a4\u30d6\u30a6\u30a7\u30d3\u30ca\u30fc\u300cBuild and Deploy SLAM Workflows with MATLAB\u300d\u306f\u7d42\u4e86\u3057\u3066\u3044\u307e\u3059\u3002\u30ea\u30f3\u30af\u306f\u30a2\u30fc\u30ab\u30a4\u30d6\u30da\u30fc\u30b8\u306e\u3082\u306e\u306b\u5dee\u3057\u66ff\u3048\u3066\u3044\u307e\u3059\u3002\uff08\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30a8\u30f3\u30b8\u30cb\u30a2\u30ea\u30f3\u30b0\u90e8 \u8349\u91ce\uff09<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n<p><strong>\u6700\u901f\u3067\u308f\u304b\u308b SLAM <\/strong><strong>\u5165\u9580<\/strong><\/p>\n<p>\u8aad\u307f\u9032\u3081\u3089\u308c\u3066\u3044\u308b\u3068\u3044\u3046\u3053\u3068\u306f SLAM\uff08\u540c\u6642\u4f4d\u7f6e\u7279\u5b9a\u3068\u5730\u56f3\u4f5c\u6210\uff09\u306b\u3064\u3044\u3066\u8208\u5473\u304c\u3042\u308a\u307e\u3059\u306d\uff1f\u3053\u308c\u306f\u30ed\u30dc\u30c3\u30c8\u3084\u81ea\u5f8b\u30b7\u30b9\u30c6\u30e0\u3067\u6025\u6210\u9577\u4e2d\u306e\u6280\u8853\u3067\u3059\u3002\u30c9\u30ed\u30fc\u30f3\u3084\u30ed\u30dc\u30c3\u30c8\u3001\u8eca\u304c\u521d\u3081\u3066\u306e\u5834\u6240\u3092\u79fb\u52d5\u3059\u308b\u6642\u3001\u74b0\u5883\u306e\u5730\u56f3\u3092\u4f5c\u308a\u306a\u304c\u3089\u81ea\u5206\u306e\u4f4d\u7f6e\u3092\u7279\u5b9a\u3059\u308b\u80fd\u529b\u304c\u5fc5\u8981\u3067\u3059\u3002\u305d\u3053\u3067 SLAM \u304c\u6d3b\u8e8d\u3057\u307e\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u5de5\u5b66\u3001\u81ea\u52d5\u904b\u8ee2\u3001\u3055\u3089\u306b\u306f\u7a7a\u4e2d\u6e2c\u91cf\u306a\u3069\u3001SLAM\u306e\u5fdc\u7528\u306f\u305f\u304f\u3055\u3093\u3042\u308a\u307e\u3059\u3002\u305d\u3057\u3066\u3001MATLAB \u304c\u3053\u306e\u6280\u8853\u3092\u5b9f\u88c5\u3059\u308b\u305f\u3081\u306e\u5f37\u529b\u306a\u6a5f\u80fd\u3092\u5099\u3048\u3066\u3044\u308b\u4eca\u3001SLAM \u3092\u521d\u3081\u3066\u5b66\u3076\u65b9\u3078\u306e\u6700\u901f\u306e\u5165\u9580\u8a18\u4e8b\u3092\u66f8\u304f\u306e\u306b\u826f\u3044\u30bf\u30a4\u30df\u30f3\u30b0\u3060\u3068\u601d\u3044\u307e\u3057\u305f\u3002SLAM \u306e\u5b9f\u88c5\u306b\u8208\u5473\u304c\u3042\u308b\u65b9\u3078\u306e\u5fa9\u7fd2\u306b\u3082\u3074\u3063\u305f\u308a\u3067\u3059\u300211\u67088\u65e5\u306b\u306f\u300c<a href=\"https:\/\/jp.mathworks.com\/videos\/build-and-deploy-simultaneous-localization-and-mapping-slam-workflows-with-matlab-1731616701202.html\">Build and Deploy SLAM Workflows with MATLAB<\/a>\u300d\u30a6\u30a7\u30d3\u30ca\u30fc\u3082\u958b\u50ac\u3057\u307e\u3059\u306e\u3067\u3001\u305c\u3072\u3054\u53c2\u52a0\u304f\u3060\u3055\u3044\ud83d\ude0a<\/p>\n<p>&nbsp;<\/p>\n<p><strong>SLAM <\/strong><strong>\u3068\u306f\u4f55\u304b\u3001\u305d\u3057\u3066\u306a\u305c\u91cd\u8981\u306a\u306e\u304b\uff1f<\/strong><\/p>\n<p>SLAM \u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3084\u8eca\u4e21\u304c\u5468\u56f2\u306e\u6b63\u78ba\u306a\u5730\u56f3\u3092\u4f5c\u6210\u3057\u306a\u304c\u3089\u3001\u305d\u306e\u5730\u56f3\u4e0a\u3067\u81ea\u5206\u306e\u4f4d\u7f6e\u3092\u7279\u5b9a\u3059\u308b\u3053\u3068\u3092\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002\u3053\u306e\uff12\u3064\u306e\u80fd\u529b\u306f\u3001\u5b89\u5168\u306a\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u3001\u7d4c\u8def\u8a08\u753b\u3001\u52d5\u7684\u306a\u74b0\u5883\u3067\u306e\u969c\u5bb3\u7269\u56de\u907f\u306b\u304a\u3044\u3066\u975e\u5e38\u306b\u91cd\u8981\u3067\u3059\u3002SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u901a\u5e38\u3001\u4f7f\u7528\u3059\u308b\u30bb\u30f3\u30b5\u30fc\u306e\u7a2e\u985e\u306b\u3088\u3063\u3066\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5206\u985e\u3067\u304d\u307e\u3059\u3002<\/p>\n<ol>\n<li><strong>LiDAR SLAM<\/strong>\u2013 LiDAR (Light Detection and Ranging) \u3092\u4f7f\u7528\u3057\u3066\u8ddd\u96e2\u3092\u6e2c\u308a\u307e\u3059\u3002<\/li>\n<li><strong>Visual SLAM<\/strong>\u00a0\u2013 \u30ab\u30e1\u30e9\u753b\u50cf\u3092\u7528\u3044\u307e\u3059\u3002<\/li>\n<li><strong>Multi-Sensor SLAM<\/strong> \u2013 \u30ab\u30e1\u30e9\u3001LiDAR\u3001IMU\uff08\u6163\u6027\u8a08\u6e2c\u88c5\u7f6e\uff09\u3001GPS \u306a\u3069\u306e\u3055\u307e\u3056\u307e\u306a\u30bb\u30f3\u30b5\u30fc\u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u3001\u7cbe\u5ea6\u3068\u5805\u7262\u6027\u3092\u5411\u4e0a\u3055\u305b\u307e\u3059\u3002<\/li>\n<\/ol>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1289\" src=\"http:\/\/blogs.mathworks.com\/autonomous-systems\/files\/2024\/10\/lidar.gif\" alt=\"\" \/><\/p>\n<p style=\"text-align: left;\"><em><u>Fig. <\/u><\/em><em><u>LiDAR SLAM <\/u><\/em><em><u>\u306b\u3088\u308b\u5730\u56f3\u4f5c\u6210\u4f8b<\/u><\/em><\/p>\n<p>&nbsp;<\/p>\n<p><strong>SLAM <\/strong><strong>\u306f\u3069\u306e\u3088\u3046\u306b\u6a5f\u80fd\u3059\u308b\u306e\u304b\uff1f<\/strong><\/p>\n<p>SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3001\u751f\u306e\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u53ce\u96c6\u3057\u3001\u305d\u308c\u3092\uff12\u3064\u306e\u4e3b\u8981\u306a\u30b9\u30c6\u30fc\u30b8\u3067\u51e6\u7406\u3057\u307e\u3059\uff1a<\/p>\n<ol>\n<li><strong>\u30d5\u30ed\u30f3\u30c8\u30a8\u30f3\u30c9\u51e6\u7406<\/strong>: \u95a2\u9023\u3059\u308b\u7279\u5fb4\u3092\u62bd\u51fa\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u306e\u521d\u671f\u63a8\u5b9a\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u3053\u306e\u6bb5\u968e\u3067\u306f\u3001\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30c7\u30fc\u30bf\u3092\u5206\u6790\u3057\u3001\u91cd\u8981\u306a\u7279\u5fb4\u3092\u7279\u5b9a\u3057\u3001\u6642\u9593\u7d4c\u904e\u306b\u3088\u308b\u7279\u5fb4\u306e\u9055\u3044\u3092\u3082\u3068\u306b\u30b7\u30b9\u30c6\u30e0\u306e\u52d5\u304d\u3092\u5224\u65ad\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u30d0\u30c3\u30af\u30a8\u30f3\u30c9\u6700\u9069\u5316<\/strong>: \u3053\u308c\u3089\u306e\u521d\u671f\u63a8\u5b9a\u3092\u6539\u5584\u3057\u3001\u4e0d\u6b63\u78ba\u3055\u3092\u6e1b\u3089\u3057\u3001\u30c9\u30ea\u30d5\u30c8\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001\u30ce\u30fc\u30c9\u304c\u4f4d\u7f6e\u3092\u8868\u3057\u3001\u30a8\u30c3\u30b8\u304c\u4f4d\u7f6e\u9593\u306e\u7a7a\u9593\u7684\u95a2\u4fc2\u3092\u8868\u3059\u30b0\u30e9\u30d5\u30d9\u30fc\u30b9\u306e\u30a2\u30d7\u30ed\u30fc\u30c1\u304c\u3088\u304f\u4f7f\u308f\u308c\u307e\u3059\u3002\u30dd\u30fc\u30ba\u30b0\u30e9\u30d5\u6700\u9069\u5316\u3084\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5\u3068\u3044\u3063\u305f\u6280\u8853\u304c\u3053\u306e\u30c7\u30fc\u30bf\u3092\u6d17\u7df4\u3057\u3001\u6700\u7d42\u7684\u306b\u4e00\u8cab\u3057\u305f\u5730\u56f3\u3068\u6b63\u78ba\u306a\u4f4d\u7f6e\u7279\u5b9a\u3092\u69cb\u7bc9\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u30eb\u30fc\u30d7\u30af\u30ed\u30fc\u30b8\u30e3<\/strong>: \u6280\u8853\u7684\u306b\u306f SLAM \u306e\u30d0\u30c3\u30af\u30a8\u30f3\u30c9\u306e\u4e00\u90e8\u3067\u3059\u304c\u3001\u7279\u306b\u5f37\u8abf\u3059\u308b\u4fa1\u5024\u304c\u3042\u308a\u307e\u3059\u3002\u30c9\u30ea\u30d5\u30c8\u3084\u30a8\u30e9\u30fc\u3092\u6e1b\u5c11\u3055\u305b\u308b\u512a\u308c\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u3042\u308b\u3082\u306e\u306e\u3001\u30bb\u30f3\u30b5\u30fc\u306b\u306f\u7cbe\u5ea6\u306b\u5f71\u97ff\u3092\u53ca\u307c\u3059\u8a31\u5bb9\u8aa4\u5dee\u304c\u3042\u308a\u307e\u3059\u3002\u4ee5\u524d\u306b\u8a2a\u308c\u305f\u74b0\u5883\u306e\u90e8\u5206\u306b\u623b\u3063\u3066\u304f\u308b\u3053\u3068\u3067\u3001\u5730\u56f3\u3068\u8ecc\u9053\u3092\u518d\u78ba\u8a8d\u3057\u3001\u4fee\u6b63\u3092\u52a0\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u306f SLAM \u306b\u304a\u3044\u3066\u975e\u5e38\u306b\u91cd\u8981\u3067\u3059\u3002\u591a\u304f\u306e SLAM \u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306f\u672a\u77e5\u306e\u74b0\u5883\u3092\u524d\u63d0\u3068\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u30eb\u30fc\u30d7\u30af\u30ed\u30fc\u30b8\u30e3\u3092\u7d44\u307f\u8fbc\u3080\u6a5f\u4f1a\u304c\u3042\u308b\u5834\u5408\u3001\u305d\u306e\u9078\u629e\u3092\u771f\u5263\u306b\u8003\u616e\u3059\u3079\u304d\u3067\u3059\u3002\u4f8b\u3048\u3070\u3001\u30c9\u30ed\u30fc\u30f3\u3067\u74b0\u5883\u3092\u518d\u69cb\u7bc9\u3057\u3088\u3046\u3068\u3059\u308b\u5834\u5408\u3001\u65e2\u77e5\u306e\u5834\u6240\u306b\u7c21\u5358\u306b\u623b\u308b\u3053\u3068\u304c\u3067\u304d\u3001SLAM \u306e\u30d0\u30c3\u30af\u30a8\u30f3\u30c9\u6700\u9069\u5316\u306b\u5927\u304d\u306a\u5229\u70b9\u3092\u3082\u305f\u3089\u3057\u307e\u3059\u3002<\/li>\n<\/ol>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-1292\" src=\"http:\/\/blogs.mathworks.com\/autonomous-systems\/files\/2024\/10\/slam_stages.png\" alt=\"\" width=\"1020\" height=\"424\" \/><\/p>\n<p style=\"text-align: left;\"><em><u>Fig. <\/u><\/em><em><u>SLAM <\/u><\/em><em><u>\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306b\u304a\u3051\u308b2<\/u><\/em><em><u>\u3064\u306e\u30b9\u30c6\u30fc\u30b8<\/u><\/em><\/p>\n<p>&nbsp;<\/p>\n<p><strong>SLAM <\/strong><strong>\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u7a2e\u985e<\/strong><\/p>\n<p><strong>LiDAR SLAM<\/strong><\/p>\n<p><a href=\"https:\/\/www.mathworks.com\/help\/nav\/ug\/build-map-from-lidar-data-using-slam.html\">LiDAR \u3092\u7528\u3044\u305f SLAM<\/a> \u306f\u3001\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u5ba4\u5185\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u3084\u81ea\u52d5\u904b\u8ee2\u8eca\u306e\u9ad8\u89e3\u50cf\u3067\u5bc6\u306a\u5730\u56f3\u4f5c\u6210\u306a\u3069\u30013D\u30de\u30c3\u30d4\u30f3\u30b0\u304c\u91cd\u8981\u306a\u74b0\u5883\u306b\u7279\u306b\u52b9\u679c\u7684\u3067\u3059\u3002\u3057\u304b\u3057\u30012D LiDAR SLAM \u3082\u975e\u5e38\u306b\u6709\u7528\u3067\u3001\u8a08\u7b97\u8ca0\u8377\u304c\u5c11\u306a\u3044\u306e\u304c\u7279\u5fb4\u3067\u3059\u3002<\/p>\n<p><strong>\u5b9f\u88c5\u306e\u30ef\u30fc\u30af\u30d5\u30ed\u30fc:<\/strong><\/p>\n<ul>\n<li><strong>\u30c7\u30fc\u30bf\u53d6\u5f97:<\/strong> LAS\u3001PCD\u3001rosbag \u30d5\u30a1\u30a4\u30eb\u306a\u3069\u306e\u5f62\u5f0f\u3067\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3080\u304b\u3001\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u30e9\u30a4\u30d6 LiDAR \u30c7\u30fc\u30bf\u3092\u30b9\u30c8\u30ea\u30fc\u30e0\u3057\u307e\u3059<\/li>\n<li><strong>\u30c7\u30fc\u30bf\u51e6\u7406:<\/strong>\u00a0\u8a08\u7b97\u8ca0\u8377\u3092\u6e1b\u3089\u3059\u305f\u3081\u306b\u30c7\u30fc\u30bf\u3092\u30af\u30ea\u30fc\u30cb\u30f3\u30b0\u3084\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0\uff08\u4f8b\uff1a\u30c0\u30a6\u30f3\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\uff09\u3092\u884c\u3063\u305f\u308a\u3001\u5730\u9762\u306e\u5e73\u9762\u3092\u30bb\u30b0\u30e1\u30f3\u30c8\u5316\u3057\u305f\u308a\u3001\u5916\u308c\u5024\u3092\u9664\u53bb\u3057\u305f\u308a\u3001\u30ce\u30a4\u30ba\u3092\u9664\u53bb\u3057\u305f\u308a\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3:<\/strong> \u8907\u6570\u306e\u70b9\u7fa4\u3092 ICP (Iterative Closest Point)\u3001NDT (Normal Distributions Transform)\u3001LOAM (LiDAR Odometry and Mapping) \u306a\u3069\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u4f7f\u7528\u3057\u3066\u30ef\u30fc\u30eb\u30c9\u5ea7\u6a19\u7cfb\u306b\u7d50\u5408\u3057\u307e\u3059\u3002\u305d\u306e\u7d50\u679c\u3001\u30b7\u30b9\u30c6\u30e0\u306e\u59ff\u52e2\u3092\u5c0e\u304d\u51fa\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u30b0\u30e9\u30d5\u6700\u9069\u5316:<\/strong>\u00a0\u8ecc\u9053\u8aa4\u5dee\u3092\u6700\u5c0f\u5316\u3057\u3001\u5730\u56f3\u30c7\u30fc\u30bf\u3092\u6539\u5584\u3057\u307e\u3059\u3002\u30eb\u30fc\u30d7\u30af\u30ed\u30fc\u30b8\u30e3\u691c\u51fa\u306b\u3088\u308a\u3001\u30ed\u30dc\u30c3\u30c8\u304c\u65e2\u77e5\u306e\u5834\u6240\u3092\u518d\u8a2a\u3057\u305f\u3068\u304d\u306b\u30c9\u30ea\u30d5\u30c8\u3092\u4fee\u6b63\u3057\u3066\u5730\u56f3\u3092\u3055\u3089\u306b\u7cbe\u5bc6\u5316\u3067\u304d\u307e\u3059\u3002\u4e00\u822c\u7684\u306b\u5b9f\u88c5\u3055\u308c\u308b\u6700\u9069\u5316\u624b\u6cd5\u306f\u30dd\u30fc\u30ba\u30b0\u30e9\u30d5\u3067\u3059\u3002<\/li>\n<\/ul>\n<p><strong>Visual SLAM (vSLAM)<\/strong><\/p>\n<p><a href=\"https:\/\/www.mathworks.com\/help\/vision\/visual-simultaneous-localization-and-mapping-slam.html\">Visual SLAM<\/a> \u306f\u30ab\u30e1\u30e9\u3092\u4f7f\u7528\u3057\u3066 SLAM \u3092\u884c\u3044\u307e\u3059\u3002\u81ea\u52d5\u904b\u8ee2\u3084 UAV\uff08\u7121\u4eba\u822a\u7a7a\u6a5f\uff09\u3067\u5e83\u304f\u5229\u7528\u3055\u308c\u3066\u304a\u308a\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306e\u30d3\u30b8\u30e5\u30a2\u30eb\u30c7\u30fc\u30bf\u304c\u5229\u7528\u53ef\u80fd\u306a\u5834\u5408\u306b\u306f\u3001\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3067\u3082\u63a1\u7528\u304c\u9032\u3093\u3067\u3044\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1295\" src=\"http:\/\/blogs.mathworks.com\/autonomous-systems\/files\/2024\/10\/vslam.gif\" alt=\"\" \/><\/p>\n<p style=\"text-align: left;\"><em><u>Fig.\u00a0<\/u><\/em><em><u>\u30b9\u30c6\u30ec\u30aa vSLAM <\/u><\/em><em><u>\u3092\u4f7f\u3063\u305f\u5bc6\u306a\u5730\u56f3\u69cb\u7bc9<\/u><\/em><\/p>\n<p>&nbsp;<\/p>\n<p><strong>vSLAM <\/strong><strong>\u5b9f\u88c5\u306e\u30ef\u30fc\u30af\u30d5\u30ed\u30fc:<\/strong><\/p>\n<ul>\n<li><strong>\u30c7\u30fc\u30bf\u53d6\u5f97:<\/strong>\u00a0\u30ab\u30e1\u30e9\u304b\u3089\u753b\u50cf\u3092\u8aad\u307f\u8fbc\u307f\u307e\u3059\u3002\u307e\u305f\u3001\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3058\u3066\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u3082\u53d6\u5f97\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u30c7\u30fc\u30bf\u51e6\u7406:<\/strong>\u00a0\u753b\u50cf\u306e\u30ea\u30b5\u30a4\u30ba\u3001\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0\u3001\u307e\u305f\u306f\u30bb\u30b0\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3044\u3001\u7279\u5fb4\u691c\u51fa\u3092\u5bb9\u6613\u306b\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u3068\u30de\u30c3\u30d4\u30f3\u30b0:<\/strong> LiDAR SLAM \u3068\u306e\u4e3b\u306a\u9055\u3044\u306f\u3001\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f7f\u7528\u3057\u3066\u59ff\u52e2\u3092\u5c0e\u304d\u51fa\u3059\u4ee3\u308f\u308a\u306b\u3001\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30d3\u30b8\u30e7\u30f3\u30d9\u30fc\u30b9\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u4f7f\u7528\u3057\u3001\u753b\u50cf\u5185\u306e\u91cd\u8981\u306a\u7279\u5fb4\u3092\u7279\u5b9a\u3057\u3001\u305d\u308c\u3092\u30d5\u30ec\u30fc\u30e0\u9593\u3067\u8ffd\u8de1\u3057\u3001\u65e2\u77e5\u306e\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u5185\u90e8\u30d1\u30e9\u30e1\u30fc\u30bf\uff09\u3092\u7528\u3044\u3066\u30ab\u30e1\u30e9\u306e\u4f4d\u7f6e\u3092\u5e7e\u4f55\u5b66\u7684\u306b\u5c0e\u304d\u51fa\u3059\u3053\u3068\u3067\u3059\u3002<\/li>\n<li><strong>\u30b0\u30e9\u30d5\u6700\u9069\u5316:<\/strong> \u8ecc\u9053\u8aa4\u5dee\u3092\u6700\u5c0f\u5316\u3057\u3001\u5730\u56f3\u30c7\u30fc\u30bf\u3092\u6539\u5584\u3057\u3001\u30eb\u30fc\u30d7\u30af\u30ed\u30fc\u30b8\u30e3\u3092\u51e6\u7406\u3057\u307e\u3059\u3002vSLAM \u306e\u5834\u5408\u3001\u30dd\u30fc\u30ba\u30b0\u30e9\u30d5\u3068<a href=\"https:\/\/jp.mathworks.com\/help\/nav\/ref\/factorgraph.html\">\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5<\/a>\u306e\u4e21\u65b9\u304c\u63a8\u5b9a\u30d7\u30ed\u30bb\u30b9\u3092\u6700\u9069\u5316\u3059\u308b\u305f\u3081\u306e\u4e00\u822c\u7684\u306a\u65b9\u6cd5\u3067\u3059\u3002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><strong>vSLAM <\/strong><strong>\u306e\u30d0\u30ea\u30a8\u30fc\u30b7\u30e7\u30f3<\/strong><\/p>\n<ul>\n<li><strong>\u30b9\u30c6\u30ec\u30aa vSLAM:<\/strong> \u30b9\u30c6\u30ec\u30aa\u30d3\u30b8\u30e7\u30f3\u306f\u3001\uff12\u3064\u306e\u30ab\u30e1\u30e9\u3092\u4f7f\u7528\u3057\u3066\uff12\u3064\u306e\u753b\u50cf\u9593\u306e\u5dee\u7570\u3092\u6bd4\u8f03\u3059\u308b\u3053\u3068\u3067\u6df1\u5ea6\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002\u6df1\u5ea6\u63a8\u5b9a\u306b\u7406\u60f3\u7684\u3067\u3001\u81ea\u52d5\u904b\u8ee2\u306b\u304a\u3044\u3066\u99d0\u8eca\u5834\u306e\u3088\u3046\u306a\u8907\u96d1\u306a\u74b0\u5883\u3092\u30de\u30c3\u30d4\u30f3\u30b0\u3059\u308b\u969b\u306b\u3088\u304f\u4f7f\u308f\u308c\u307e\u3059\u3002\u30eb\u30fc\u30d7\u30af\u30ed\u30fc\u30b8\u30e3\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u3067\u8ecc\u9053\u3092\u6700\u9069\u5316\u3057\u3001\u5168\u4f53\u7684\u306a\u7cbe\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u307e\u3059\u3002<\/li>\n<li><strong>\u9b5a\u773c\u30ab\u30e1\u30e9:\u00a0<\/strong>\u3088\u308a\u5e83\u3044\u89d2\u5ea6\u3068\u30ab\u30d0\u30fc\u7bc4\u56f2\u3092\u63d0\u4f9b\u3067\u304d\u307e\u3059\u304c\u3001\u307b\u3068\u3093\u3069\u306e\u4e00\u822c\u7684\u306a vSLAM \u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3067\u4f7f\u7528\u3059\u308b\u524d\u306b\u753b\u50cf\u306e\u6b6a\u307f\u3092\u88dc\u6b63\u3059\u308b\u3068\u3044\u3046\u8ffd\u52a0\u306e\u30c7\u30fc\u30bf\u51e6\u7406\u8981\u7d20\u304c\u5fc5\u8981\u3067\u3059\u3002<\/li>\n<li><strong>RGB-D vSLAM:\u00a0<\/strong>\u5358\u4e00\u306e\u30ab\u30e1\u30e9\u3067\u74b0\u5883\u306e\u30b9\u30b1\u30fc\u30eb\uff08\u7d76\u5bfe\u5bf8\u6cd5\uff09\u3092\u5c0e\u304d\u51fa\u3059\u306e\u306b\u5f79\u7acb\u3061\u307e\u3059\u3002\u3053\u308c\u306f\u3001\u8ffd\u52a0\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3055\u308c\u305f\u6df1\u5ea6\u30d5\u30ec\u30fc\u30e0\u304c\u3042\u308b\u305f\u3081\u3067\u3059\u3002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><strong>\u30de\u30eb\u30c1\u30bb\u30f3\u30b5 SLAM<\/strong><\/p>\n<p>\u69d8\u3005\u306a\u6761\u4ef6\u3067\u306e\u5805\u7262\u306a\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u304c\u6c42\u3081\u3089\u308c\u308b\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001\u30de\u30eb\u30c1\u30bb\u30f3\u30b5\u30fc SLAM \u306b\u3088\u3063\u3066\u591a\u69d8\u306a\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30c7\u30fc\u30bf\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u81ea\u5f8b\u30c9\u30ed\u30fc\u30f3\u306f\u30ab\u30e1\u30e9\u3068 IMU \u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u30013D \u7a7a\u9593\u3067\u306e\u4f4d\u7f6e\u3092\u6b63\u78ba\u306b\u8ffd\u8de1\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u8907\u6570\u306e\u30bb\u30f3\u30b5\u30fc\u3092\u4f7f\u7528\u3057\u305f\u30de\u30c3\u30d4\u30f3\u30b0\u6700\u9069\u5316\u3092\u652f\u63f4\u3059\u308b\u65b0\u3057\u3044\u6280\u8853\u3068\u3057\u3066\u3001\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5\u304c\u3042\u308a\u307e\u3059\u3002\u524d\u8ff0\u306e\u3088\u3046\u306b\u3001\u591a\u304f\u306e vSLAM \u30d0\u30ea\u30a8\u30fc\u30b7\u30e7\u30f3\u3067\u3059\u3067\u306b\u4f7f\u7528\u3055\u308c\u3066\u304a\u308a\u3001<a href=\"https:\/\/jp.mathworks.com\/help\/nav\/ref\/factorgraph.html\">\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5\u30b9\u30bf\u30c3\u30af<\/a>\u3092\u518d\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u591a\u304f\u306e\u958b\u767a\u4f5c\u696d\u3092\u7701\u304f\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><strong>Visual-Inertial SLAM (VI-SLAM)<\/strong><\/p>\n<p>\u30ab\u30e1\u30e9\u30c7\u30fc\u30bf\u3068 IMU \u306e\u8aad\u307f\u53d6\u308a\u3092\u7d71\u5408\u3059\u308b\u3053\u3068\u3067\u3001<a href=\"https:\/\/www.mathworks.com\/help\/vision\/ug\/monocular-visual-inertial-slam.html\">VI-SLAM<\/a> \u306f\u74b0\u5883\u306e\u30b9\u30b1\u30fc\u30eb\u3092\u8003\u616e\u3057\u3001\u8fc5\u901f\u306a\u52d5\u304d\u306e\u63a8\u5b9a\u3092\u652f\u63f4\u3059\u308b\u3053\u3068\u3067\u4f4d\u7f6e\u63a8\u5b9a\u306e\u7cbe\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u307e\u3059\u3002\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5\u306f\u3001\u30ce\u30fc\u30c9\u3068\u56e0\u5b50\u3092\u4f7f\u7528\u3057\u3066\u4f4d\u7f6e\u306e\u5236\u7d04\u3092\u30e2\u30c7\u30eb\u5316\u3057\u3001\u8907\u6570\u306e\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30c7\u30fc\u30bf\u30bd\u30fc\u30b9\u306e\u7d71\u5408\u3092\u7ba1\u7406\u3059\u308b\u305f\u3081\u306b\u3088\u304f\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5\u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u3001GPS\u3001IMU\u3001\u30ab\u30e1\u30e9\u3001\u30db\u30a4\u30fc\u30eb\u30a8\u30f3\u30b3\u30fc\u30c0\u30fc\u306a\u3069\u306e\u591a\u69d8\u306a\u30c7\u30fc\u30bf\u30bf\u30a4\u30d7\u3092\u7d71\u5408\u3067\u304d\u3001\u30ab\u30b9\u30bf\u30e0 SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3078\u306e\u6295\u8cc7\u3092\u691c\u8a0e\u3059\u308b\u969b\u306b\u591a\u304f\u306e\u9078\u629e\u80a2\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1313\" src=\"http:\/\/blogs.mathworks.com\/autonomous-systems\/files\/2024\/10\/VIOdom1.gif\" alt=\"\" \/><\/p>\n<p style=\"text-align: left;\"><em><u>Fig <\/u><\/em><em><u>VI-SLAM <\/u><\/em><em><u>\u3092\u4f7f\u3063\u305f\u30c9\u30ed\u30fc\u30f3\u306e\u8ecc\u8de1\u63a8\u5b9a\u306e\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3<\/u><\/em><\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u691c\u8a3c\u3068\u5b9f\u88c5\u5c55\u958b<\/strong><\/p>\n<p>SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u30c6\u30b9\u30c8\u3068\u5c55\u958b\u306b\u306f\u3001\u958b\u767a\u3055\u308c\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u614e\u91cd\u306a\u691c\u8a3c\u304c\u5fc5\u8981\u3067\u3001\u6642\u306b\u306f\u7d44\u307f\u8fbc\u307f\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3067\u5b9f\u884c\u3067\u304d\u308b\u3088\u3046\u306b\u6e96\u5099\u3059\u308b\u306e\u306b\u6642\u9593\u304c\u304b\u304b\u308b\u3053\u3068\u3082\u3042\u308a\u307e\u3059\u3002SLAM \u306e\u5b9f\u88c5\u3092\u7d42\u3048\u305f\u5f8c\u306b\u8003\u616e\u3059\u3079\u304d\u70b9\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\u3002<\/p>\n<ul>\n<li><strong>\u8ecc\u9053\u306e\u6bd4\u8f03<\/strong>: SLAM \u306b\u3088\u3063\u3066\u751f\u6210\u3055\u308c\u305f\u7d4c\u8def\u306f\u3001\u7d76\u5bfe\u304a\u3088\u3073\u76f8\u5bfe\u8aa4\u5dee\u3092\u8a55\u4fa1\u3059\u308b\u305f\u3081\u306b\u3001<a href=\"https:\/\/jp.mathworks.com\/help\/vision\/ref\/comparetrajectories.html\">\u57fa\u6e96\u3068\u306a\u308b\u771f\u5b9f\u306e\u30c7\u30fc\u30bf\u3068\u6bd4\u8f03<\/a>\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u8aa4\u5dee\u304c\u8a31\u5bb9\u7bc4\u56f2\u5185\u3067\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/li>\n<li><strong>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3<\/strong>:\u00a0<a href=\"https:\/\/www.mathworks.com\/help\/ros\/ug\/simulate-rgbd-visual-slam-system-with-cosimulation-in-gazebo-and-simulink.html\">Gazebo \u306e\u3088\u3046\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u4f7f\u7528\u3057\u3066\u3001\u4eee\u60f3\u74b0\u5883\u3067\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u30c6\u30b9\u30c8\u3057\u307e\u3059\u3002<\/a>\u3055\u307e\u3056\u307e\u306a\u30b7\u30ca\u30ea\u30aa\u3092\u4f5c\u6210\u3057\u305f\u308a\u3001\u5408\u6210\u30c7\u30fc\u30bf\u3092\u751f\u6210\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u3067\u3001SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u691c\u8a3c\u3059\u308b\u305f\u3081\u306e\u591a\u304f\u306e\u30c6\u30b9\u30c8\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u3092\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3055\u308c\u305f\u5009\u5eab\u3067\u52d5\u4f5c\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u306f\u3001SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u8907\u96d1\u307e\u305f\u306f\u52d5\u7684\u306a\u969c\u5bb3\u7269\u306b\u3069\u306e\u3088\u3046\u306b\u53cd\u5fdc\u3059\u308b\u304b\u3092\u30c6\u30b9\u30c8\u3059\u308b\u306e\u306b\u5f79\u7acb\u3061\u307e\u3059\u3002<\/li>\n<li><strong>\u30b3\u30fc\u30c9\u306e\u518d\u5229\u7528\u6027\u3092\u9ad8\u3081\u308b<\/strong>: SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5c55\u958b\u3059\u308b\u6700\u7d42\u30b9\u30c6\u30c3\u30d7\u306f\u3001\u4f7f\u7528\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u3084\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u306e\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3067\u5b9f\u884c\u3067\u304d\u308b\u3088\u3046\u306b\u4fee\u6b63\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u3053\u308c\u306f\u3001\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u5b9f\u88c5\u3092\u8abf\u6574\u3057\u305f\u308a\u3001\u958b\u767a\u30b9\u30bf\u30c3\u30af\u306b\u30e9\u30c3\u30d1\u30fc\u3092\u4f5c\u6210\u3057\u305f\u308a\u3001\u5225\u306e\u8a00\u8a9e\u3067\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u76f4\u3059\u3053\u3068\u3092\u542b\u3080\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002MATLAB\/Simulink \u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u3001C\/C++ \u30e9\u30a4\u30d6\u30e9\u30ea\u3001\u5b9f\u884c\u53ef\u80fd\u30d5\u30a1\u30a4\u30eb\u3001\u3055\u3089\u306b\u306f GPU \u7528\u306e CUDA \u30b3\u30fc\u30c9\u3092\u751f\u6210\u3059\u308b\u305f\u3081\u306e\u81ea\u52d5\u30b3\u30fc\u30c9\u751f\u6210\u3092\u5229\u7528\u3067\u304d\u307e\u3059\u3002<\/li>\n<li><strong>ROS (Robot Operating System) \u3078\u306e\u5c55\u958b<\/strong>: \u591a\u304f\u306eSLAM\u958b\u767a\u8005\u306f\u3001\u81ea\u5206\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u30d1\u30c3\u30b1\u30fc\u30b8\u5316\u3055\u308c\u305fROS \u30ce\u30fc\u30c9\u306b\u3057\u305f\u3044\u3068\u8003\u3048\u308b\u3067\u3057\u3087\u3046\u3002\u3053\u308c\u306f\u3001\u958b\u767a\/\u30c6\u30b9\u30c8\u30b9\u30bf\u30c3\u30af\u304b\u3089\u3001ROS \u30b7\u30b9\u30c6\u30e0\u3068\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3059\u308b\u30d7\u30ed\u30c0\u30af\u30b7\u30e7\u30f3\u30ec\u30a4\u30a2\u30a6\u30c8\u306b\u30b3\u30fc\u30c9\u3092\u8abf\u6574\u3059\u308b\u3053\u3068\u3092\u610f\u5473\u3057\u307e\u3059\u3002MATLAB \u3067\u4f5c\u696d\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u3001<a href=\"https:\/\/www.mathworks.com\/help\/ros\/index.html\">ROS Toolbox<\/a> \u306b\u6163\u308c\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002\u9069\u5207\u306a\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3067\u3001MATLAB \u30b3\u30fc\u30c9\u3084 Simulink \u30e2\u30c7\u30eb\u304b\u3089\u30d1\u30c3\u30b1\u30fc\u30b8\u5316\u3055\u308c\u305fROS \u30ce\u30fc\u30c9\u3092\u751f\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/li>\n<\/ul>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-1301\" src=\"http:\/\/blogs.mathworks.com\/autonomous-systems\/files\/2024\/10\/SLAMvalidation.png\" alt=\"\" width=\"925\" height=\"902\" \/><\/p>\n<p style=\"text-align: left;\"><em><u>Fig. <\/u><\/em><em><u>SLAM <\/u><\/em><em><u>\u306e\u691c\u8a3c\u3068\u5c55\u958b\u306e\u9078\u629e\u80a2<\/u><\/em><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><strong>SLAM <\/strong><strong>\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u9078\u629e<\/strong><\/p>\n<p>SLAM \u306e\u3088\u3046\u306a\u30ab\u30b9\u30bf\u30e0\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u958b\u767a\u3059\u308b\u3053\u3068\u306f\u3001\u9593\u9055\u3044\u306a\u304f\u9577\u671f\u7684\u306a\u6295\u8cc7\u3067\u3059\u3002\u305d\u306e\u305f\u3081\u3001SLAM \u30a2\u30d7\u30ed\u30fc\u30c1\u3092\u691c\u8a0e\u3059\u308b\u524d\u306b\u3001\u5b9f\u969b\u306b\u4f55\u304c\u5fc5\u8981\u304b\uff08\u6b63\u5f0f\u306a\u8981\u4ef6\u3092\u5c0e\u304d\u51fa\u3059\uff09\u3092\u8003\u3048\u308b\u3053\u3068\u304c\u91cd\u8981\u3067\u3059\u3002\u6700\u9069\u306a SLAM \u30a2\u30d7\u30ed\u30fc\u30c1\u306f\u3001\u4f7f\u7528\u3057\u305f\u3044\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u306e\u30bb\u30f3\u30b5\u30fc\u306e\u53ef\u7528\u6027\u3084\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u8981\u4ef6\uff08\u89e3\u50cf\u5ea6\u3001\u30da\u30a4\u30ed\u30fc\u30c9\u5bb9\u91cf\u3001\u30b3\u30b9\u30c8\u3001\u8a08\u7b97\u80fd\u529b\u306a\u3069\uff09\u306b\u4f9d\u5b58\u3057\u307e\u3059\u3002LiDAR \u306f\u8a73\u7d30\u306a 3D \u30de\u30c3\u30d4\u30f3\u30b0\u306b\u306f\u7406\u60f3\u7684\u3067\u3059\u304c\u3001\u30ab\u30e1\u30e9\u3067\u5bfe\u5fdc\u53ef\u80fd\u306a\u3088\u308a\u30b7\u30f3\u30d7\u30eb\u306a\u30bf\u30b9\u30af\u306b\u306f\u904e\u5270\u307e\u305f\u306f\u9ad8\u4fa1\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002\u30de\u30eb\u30c1\u30bb\u30f3\u30b5\u30fc SLAM \u306f\u3001\u591a\u69d8\u306a\u74b0\u5883\u3067\u9ad8\u3044\u7cbe\u5ea6\u304c\u6c42\u3081\u3089\u308c\u308b\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3001\u4f8b\u3048\u3070\u5c4b\u5185\u5916\u3092\u30ca\u30d3\u30b2\u30fc\u30c8\u3059\u308b\u30c9\u30ed\u30fc\u30f3\u306b\u9069\u3057\u3066\u304a\u308a\u3001\u540c\u6642\u306b LiDAR \u3084 Visual SLAM \u306e\u7cbe\u5ea6\u3092\u5411\u4e0a\u3057\u3064\u3064\u3001\u30b3\u30b9\u30c8\u306e\u5897\u52a0\u3092\u6291\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3069\u306e\u30bf\u30a4\u30d7\u306e SLAM \u304c\u3042\u306a\u305f\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306b\u6700\u9069\u304b\u3092\u8003\u3048\u308b\u306b\u306f\u3001MATLAB \u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u3042\u308b<a href=\"https:\/\/www.mathworks.com\/help\/vision\/ug\/choose-a-slam-workflow-based-on-sensor-data.html\">\u3053\u306e\u30da\u30fc\u30b8<\/a>\u304c\u826f\u3044\u51fa\u767a\u70b9\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u7d50\u8ad6<\/strong><\/p>\n<p>SLAM \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3001\u81ea\u5f8b\u30b7\u30b9\u30c6\u30e0\u306b\u3068\u3063\u3066\u975e\u5e38\u306b\u8907\u96d1\u306a\u958b\u767a\u6295\u8cc7\u306e\u3088\u3046\u306b\u601d\u3048\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\u3001\u672a\u77e5\u306e\u74b0\u5883\u3092\u79fb\u52d5\u3059\u308b\u8eca\u4e21\u3084\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u4e0d\u53ef\u6b20\u3067\u3042\u308a\u3001\u9069\u5207\u306a\u30bb\u30f3\u30b5\u30fc\u3068\u8a08\u7b97\u80fd\u529b\u304c\u3042\u308c\u3070\u3001\u8a8d\u8b58\u30b9\u30bf\u30c3\u30af\u3092\u5927\u3044\u306b\u5f37\u5316\u3067\u304d\u307e\u3059\u3002LiDAR SLAM\u3001Visual SLAM\u3001\u30d5\u30a1\u30af\u30bf\u30fc\u30b0\u30e9\u30d5\u30d9\u30fc\u30b9\u306e\u30de\u30eb\u30c1\u30bb\u30f3\u30b5\u30fc SLAM \u306a\u3069\u3001MATLAB \u3067\u5229\u7528\u53ef\u80fd\u306a\u518d\u5229\u7528\u53ef\u80fd\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u3042\u308a\u3001\u4ee5\u524d\u3088\u308a\u3082\u306f\u308b\u304b\u306b\u5c11\u306a\u3044\u52b4\u529b\u3067\u30ab\u30b9\u30bf\u30e0 SLAM \u5b9f\u88c5\u306e\u30d7\u30ed\u30c8\u30bf\u30a4\u30d4\u30f3\u30b0\u3092\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002\u3082\u3061\u308d\u3093\u3001\u3053\u306e\u77ed\u3044\u307e\u3068\u3081\u3067\u306f SLAM \u306b\u3064\u3044\u3066\u3059\u3079\u3066\u3092\u8a9e\u308a\u5c3d\u304f\u3057\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u5c11\u3057\u3067\u3082\u5f79\u7acb\u3064\u60c5\u5831\u3092\u63d0\u4f9b\u3067\u304d\u305f\u306a\u3089\u5b09\u3057\u3044\u3067\u3059\uff01\u8cea\u554f\u3084\u30d5\u30a9\u30ed\u30fc\u30a2\u30c3\u30d7\u30b3\u30f3\u30c6\u30f3\u30c4\u306e\u63d0\u6848\u304c\u3042\u308c\u3070\u3001\u305c\u3072\u30b3\u30e1\u30f3\u30c8\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<div class=\"overview-image\"><img decoding=\"async\"  class=\"img-responsive\" src=\"http:\/\/blogs.mathworks.com\/autonomous-systems\/files\/2024\/10\/lidar.gif\" onError=\"this.style.display ='none';\" \/><\/div>\n<p>SLAM \u306e\u57fa\u672c\u3068\u3001\u305d\u308c\u304c\u30ed\u30dc\u30c3\u30c8\u3084\u81ea\u5f8b\u30b7\u30b9\u30c6\u30e0\u3067\u3069\u3093\u306a\u5f79\u5272\u3092\u679c\u305f\u3057\u3066\u3044\u308b\u304b\u3092\u4e00\u7dd2\u306b\u898b\u3066\u307f\u307e\u3057\u3087\u3046\uff01\u305d\u306e\u9053\u306e\u5c02\u9580\u5bb6\u306e Jose Avendano Arbelaez \u304c\u66f8\u3044\u305f\u30d6\u30ed\u30b0\u8a18\u4e8b\u3067\u306f\u3001SLAM \u6280\u8853\u3068\u305d\u306e MATLAB \u3067\u306e\u4f7f\u3044\u65b9\u3092\u30b5\u30af\u30c3\u3068\u7d39\u4ecb\u3057\u3066\u3044\u307e\u3059\u3002\u8a73\u7d30\u306f 11 \u6708 8 \u65e5\u306b\u958b\u50ac\u3055\u308c\u305f\u30a6\u30a7\u30d3\u30ca\u30fc\u300cBuild and Deploy SLAM Workflows with&#8230; <a class=\"read-more\" href=\"https:\/\/blogs.mathworks.com\/japan-community\/2024\/12\/06\/build-and-deploy-slam-workflows-with-matlab-jp\/\">read more >><\/a><\/p>\n","protected":false},"author":159,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[177],"tags":[],"_links":{"self":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/12705"}],"collection":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/users\/159"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/comments?post=12705"}],"version-history":[{"count":13,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/12705\/revisions"}],"predecessor-version":[{"id":12744,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/12705\/revisions\/12744"}],"wp:attachment":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/media?parent=12705"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/categories?post=12705"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/tags?post=12705"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}