Slide 1

Slide 1 text

1$- 1PJOU$MPVE-JCSBSZ ͷ جຊͱʮͳͥ఺܈ॲཧ͔ʁʯ ɹˏίϯϐϡʔλϏδϣϯษڧձؔ౦ ୈ൛  ౰࣌ͷॴଐ ܚጯٛक़େֶେֶӃཧ޻ֶݚڀՊɹത࢜՝ఔ <݄վఆୈ൛> චऀɿྛণر $7.-ΤΩεύʔτΨΠυ؅ཧਓ  

Slide 2

Slide 2 text

͜ͷ<ୈ൛>ʹ͍ͭͯ w ͜ͷࢿྉ͸ʮ೥ͷ$7ษڧձؔ౦ʯͰͷൃදࢿྉΛʮ೥݄ʯ ʹߋ৽ͯ͠࠶౓ެ։ͨ͠΋ͷͰ͋Δɽ w ೥΄ͲܦͬͨݱࡏͰ΋ʮ%఺܈ॲཧ΁ͷ1$-Λհͨ͠ಋೖʯͱͯ͠༗ ༻ͩͱ൑அ͠ɼ࠶ެ։͢Δ͜ͱʹͨ͠ɽ w ಺༰͸ͳΔ΂ͦ͘ͷ··ʹ͠ɼಡΈ΍͘͢ͳΔΑ͏จମͱσβΠϯͳͲͩ ͚গ͠੔͑ͨɽʮ೥݄ݱࡏͷঢ়گɾఆ൪ʯͱͷဃ཭͕͋·Γʹܹ ͍͠಺༰ʹ͍ͭͯ͸ɼ੺৭Ͱ஫ऍͷ௥ՃΛߦͬͨɽ w ೥ͷʮਂ૚ֶशϒʔϜҎલͷݹ͍಺༰ʯͰ͋Δ͜ͱʹ஫ҙ͞Εͨ ͍ɽʢٯʹݴ͏ͱɼए͍ํ͕աڈΛ஌Δʹ͸ϞοςίΠͷ಺༰ ɽ w ࠓͰ΋ຊ࣭తͳॴ͸มΘ͍ͬͯͳ͍ɽΑͬͯɼϩϘοτϏδϣϯΛςʔϚ ͱ͞ΕΔڭһͷํͳͲ΋ɼ͜ͷࢿྉΛࠓޙ΋༗ޮతʹ׆༻͍͚ͯͨͩ͠Δ ͱ޾͍Ͱ͋Δɽ 

Slide 3

Slide 3 text

ಋೖ 

Slide 4

Slide 4 text

w ઌഐʮ৽ೖੜͷΈΜͳɺೖθϛͰ͸1$-Λ࢖ ༻ͨ͠%ͷ՝୊΋औ૊ΜͰ΋Β͍·͢Αʔʯ ͋ΔϏδϣϯܥͷݚڀࣨʹ͸ɼय़ʹ৽ೖੜ͕དྷ·ͨ͠ w ৽ೖੜʮ%ͱ͔೉ͦ͠͏͔ͩΒɺतۀͰطʹ ΍ͬͨ0QFO$7Ͱ΍Γ·ͤΜ͔ʯ ίϯϐϡʔλϏδϣϯͰ͸ %఺܈ॲཧͷํ͕೉ͦ͠͏ͩͳ͋ ͱͷΠϝʔδ͕͋ΔΑ͏Ͱ͢ Ͳ͏΋ɺݚڀࣨͷ৽ೖੜͷํͨͪʹ͸ɿ 

Slide 5

Slide 5 text

ຊ೔ͷ಺༰ w 1$-ͷجຊͷ঺հ w ʮ৽ೖੜͷօɺ1$-ͷ՝୊΋΍ͬͯ΋Β͍·͢ʯΛղܾɽ w 1$-ͱ఺܈ॲཧͷ🔰޲͚νϡʔτϦΞϧΛఏڙɽ w ͳͥ఺܈ॲཧ͔ʁ w ʮ%ͱ͔೉ͦ͠͏͔ͩΒɺը૾Ͱ΍Γ·͠ΐ͏ΑઌഐʯΛղܾ w %఺܈ॲཧͷํ͕༗རͰָͳ͜ͱΛ঺հɽ ˞ຊ౰͸ʮʯͷॱͰઆ໌͕ͨ͠ɼઌʹ1$-঺հͨ͠΄͏͕۩ମతʹΠϝʔδ ͠΍͘͢ͳΔͷͰɼ͜ͷॱͰઆ໌ɽ 

Slide 6

Slide 6 text

఺܈ ϙΠϯτΫϥ΢υ ର৅ͷ֤఺Qͷ̏࣍ݩ࠲ඪ஋ Y Z [ ͱɼ৭ 3(# 3(#" ͕֨ೲ͞Εͨσʔλ ը૾σʔλͱͷڞ௨఺ɿ ɹڑ཭ը૾ͱͯ͠ࡱӨͰ͖Δ৔߹͸ɺ3(#ը૾ͱղ૾౓Λ౷ҰͰ͖Δ ྫɿ,JOFDUɺ4PGU,JOFUJD  ը૾σʔλͱͷ૬ҧ఺ɿ w  ࿈ଓͯ͠ର৅ද໘͕ಘΒΕΔͱ͸ݶΒͳ͍ w ͕݀͋ͬͨΓɺϊΠδʔͩͬͨΓ͢Δ ݀ຒΊ΍ฏ׈Խ͕ඞཁ  w εϖοΫϧϊΠζ ಛʹ5P' ͕͋Δ  1$-ͷجຊͷ঺հ

Slide 7

Slide 7 text

,JOFDUొ৔Ҏલ d w ਫ਼޼ͳ%σʔλ͕ಘΒΕΔΘ͚Ͱ͸ͳ͘ɼ΍΍ϊΠδʔͳσ ϓε͔ΒՄೳͳॲཧ͔࣮͠ݱͰ͖ͳ͍ɽ w ं΍ϩϘοτ͔Βݟͯ΍΍ԕํͷ৔ॴΛೝࣝର৅ͱ͍ͯ͠Δɽ w .74ͱύονϕʔε̏࣍ݩ෮ݩɿ(PPHMF&BSUIͳͲ w ର৅γʔϯͷपғΛ৭Μͳ֯౓͔ΒࡱӨ͢Δඞཁ͋Γ w %࠶ߏ੒ͷܭࢉ͕࣌ؒ௕͘ɼ࣮࣌ؒΞϓϦʹ͸࢖༻ Ͱ͖ͳ͍  wεςϨΦΧϝϥंࡌը૾ೝࣝwϚγϯϏδϣϯͰ࢖༻ 1$-ͷجຊͷ঺հ

Slide 8

Slide 8 text

,JOFDUొ৔Ҏޙ d w ୭Ͱ΋%఺܈ GQT ͕࢖͑ΔΑ͏ʹͳ͕ͬͨɿ w %఺܈ϝογϡॲཧͷϊ΢ϋ΢Λ͍࣋ͬͯΔਓ͕গͳ͍ɻ w ,JOFDU4%,0QFO/*͸఺܈ͦͷ΋ͷʹର͢Δ֤छॲཧ͸ର৅֎ ʢਓ෺࢟੎ਪఆͳͲɼ/BUVSBM6TFS*OUFSGBDFͷఏڙ͕ओ໨తʣ w 0QFO$7ͷΑ͏ͳϥΠϒϥϦ͕ɼ%఺܈޲͚ʹ͸ଘࡏ͍ͯ͠ͳ͍ w ഁ֨తʹ௿Ձ֨ͳ,JOFDUͷొ৔ʹΑΓɺ୭Ͱ΋ ʮ%఺܈ʯ͕ʮಈը GQT ʯͰऔಘՄೳʹɻ ʮ࣍ݩ఺܈ॲཧʯͷχʔζʹԠ͑ΔͨΊʹ 1PJOU$MPVE-JCSBSZ͕ొ৔ ೥  1$-ͷجຊͷ঺հ

Slide 9

Slide 9 text

%ը૾ηϯγϯάͷຽओԽ ιϑτϋʔυ྆໘Ͱ։࢝ w ϋʔυ΢ΣΞ ηϯαʔ ͷຽओԽ w ίϯγϡʔϚσϓεηϯαʔ ,JOFDU 4PGULJOFUJD ͕σε Ϋτοϓ1$޲͚ʹొ৔ɻ w ϞόΠϧ޲͚ͷJ1BEͷ 4USVDUVSF4FOTUPS΍ "OESPJEͷ(PPHMF5BOHP ͳͲ΋ొ৔࢝͠Ί͍ͯΔ w ιϑτ΢ΣΞͷຽओԽɿ w 1PJOU$MPVE-JCSBSZͷొ৔Ͱ% ίϯϐϡʔλϏδϣϯ఺܈ॲཧͷ ιϑτ΢ΣΞ࡞੒ͷෑډ͕ҰؾʹԼ ͕Δɻ w 0QFOGSBNFXPSLTͳͲ΁ͷ 0QFO/*ͷ౷߹΍0DVMVTͳͲͷొ৔ ʹΑΓɺՄࢹԽɺΠϯλϥΫγϣ ϯɺ73ͳͲͰͷ%ίϯϐϡʔλϏ δϣϯͷ࢖༻΋༰қԽɾ׆ൃԽ  1$-ͷجຊͷ঺հ

Slide 10

Slide 10 text

҆Ձͳ,JOFDUొ৔ ˠ%఺܈Ϗδϣϯ͕खܰʹࢼͤΔΑ͏ʹ w Ҏલ͸ը૾ೖྗͩͬͨʮϚγ ϯϏδϣϯ෼໺ʯ΋ɼ%఺܈ ೖྗΛࢼ͢͜ͱ͕׆ൃԽɽ D. Holz, R. et al. “Towards semantic scene analysis with Time-of- fl ight cameras”. RoboCup Intermational Symposium, 2010 M .Fallon et al. “Ef fi cient Scene Simulation for Robust Monte Carlo Localization Using an RGB-D Camera” CVPR 2012 tutorial  w ϨϯδϑΝΠϯμ͕ޮՌͳͷͰ ಴࠳͍ͯͨ͠ʮҠಈϩϘοτͷ ؟ʯͱͯ͠΋ɼظ଴ͷ੕ʹɽ 1$-ͷجຊͷ঺հ

Slide 11

Slide 11 text

1PJOU$MPVE-JCSBSZͷొ৔ w 1PJOU$MPVEͱ.FTIͷॲཧͷͨΊͷ$ ݴޠʹΑΔΦʔϓϯ ιʔεͷେن໛ϥΠϒϥϦ w 0QFO$7ͷ࢞ຓϓϩδΣΫτ w #4%ϥΠηϯεແྉͰ঎༻࢖༻Մೳ w 8JO.BD-JOVY "OESPJEJ04ͷΫϩεϓϥοτϑΥʔϜ w 0QFO/*Λ͸͡Ίɺ֤ࣾσϓεηϯαʔͱ௚઀࿈ܞՄೳʢ఺܈ ͷ؆୯ͳϦΞϧλΠϜऔಘʣ  1$-ͷجຊͷ঺հ

Slide 12

Slide 12 text

ߏ੒Ϟδϡʔϧʢ1$-ʣɿ ॳظ͔ΒͷػೳʹՃ͑ɼ৽نϞδϡʔϧ͕ଟ਺௥Ճத  1$-ͷجຊͷ঺հ

Slide 13

Slide 13 text

1$-ͷσʔλܗࣜʹ͍ͭͯ ʢ1PJOU$MPVE1PJOU5 ͱQDEϑΝΠϧʣ 1$-ͷجຊͷ঺հ 

Slide 14

Slide 14 text

%σʔλ w 3(#%ηϯαʔͰ୆Ͱ̍౓ʹࡱӨͨ͠σʔλ͸ɺશपғσʔλͷ׬શͳ %Λୡ੒͍ͯ͠ͳ͍ͱ͍͏ҙຯͰʮ%σʔλʯͱݺͿ͜ͱ͕͋Δɻ w ࡾ֯ଌྔ ಁࢹ౤ӨͷηϯγϯάͳͷͰ%σʔλͱͳΔ  ,JOFDUͰऔಘͨ͠఺܈ ʢΧϝϥࢹ఺ଆ͔Βʣ ࠨͷ఺܈Λ্ํ͔Βݟͨ΋ͷ 1$-ͷجຊͷ঺հ

Slide 15

Slide 15 text

QDM1PJOU$MPVE1PJOU5ܕ  جຊతͳએݴํ๏ɿ pcl::PointCloud::Ptr cloud( new PointCloud() ); 1PJOU$MPVEʹؚ·ΕΔ఺ͷܗࣜΛද͢1PJOU5ͷྫ QDM1PJOU9:; fl PBUY Z[ QDM1PJOU9:;* fl PBUY Z[ ً౓ QDM1PJOU9:;3(#" fl PBUY Z[ 3(#" QDM1PJOU/PSNBM fl PBUY Z[ʴOPSNBM<> DVSWBUVSF QDM)JTUPHSBN fl PBUIJTUPHSBNɹ ྫ ɿ֤఺͕1PJOU9:;3(#"ͷ1PJOU$MPVEܕΦϒδΣΫτͷ࡞੒ PointCloud::Ptr data(new PointCloud()); ʮ৭෇͖ͷ%఺܈ɺ๏ઢʯͳͲͷσʔλΛ֨ೲ͢Δ 1$-ͰҰ൪Α͘࢖͏ΦϒδΣΫτ 1$-ͷجຊͷ঺հ

Slide 16

Slide 16 text

1$%ϑΝΠϧܗࣜ w 1$-ಠࣗఆٛͷ఺܈ϑΝΠϧܗ͕ࣜ1PJOU$MPVE%BUBʢ֦ுࢠ͸QDEʣ w PCK΍QMZͷΑ͏ʹϝογϡσʔλͷอଘ͕ඞཁͳ͍ͷͰɺ఺܈͚ͩΛอ ଘ͢ΔͨΊʹޮ཰తͳಠࣗϑΝΠϧܗࣜΛఆٛͨ͠ʢ˞චऀͷԱଌʣ w όΠφϦʔܗࣜͱςΩετܗࣜͷ̎छྨ͕ଘࡏ Լͷྫ͸ςΩετܗࣜ  1$-ͷجຊͷ঺հ

Slide 17

Slide 17 text

1$-JPϞδϡʔϧ w 1PJOU$MPVE1PJOU5ܕͷσʔλΛ1$-ͷಠࣗϑΝΠϧܗࣜ ͷʮQDEܗࣜʯ΁อଘɾಡΈࠐΈ͕Մೳ w 0QFO/*ʹΑΓσʔλΛऔಘͰ͖Δ֤छσϓεηϯα ,JOFDU 9UJPO ͔ΒϦΞϧλΠϜʹಉظ͞Εͨʮڑ཭ը૾ ʴ3(#ը૾ʯΛ1PJOU$MPVEܕͰΩϟϓνϟՄೳ w ֤छϝογϡσʔλܗࣜʢPCKɺQMZɺWULϑΝΠϧʣͷಡΈ ॻ͖͕Մೳʢ˞ಡΈࠐΈ͸͋·Γॆ࣮͍ͯ͠ͳ͍ʣ  1$-ͷجຊͷ঺հ

Slide 18

Slide 18 text

0QFO/*(SBCCFSϑϨʔϜϫʔΫ w ,JOFDU͔Βܭଌ͞ΕΔ3(#%σʔλΛ௚઀औಘ͢ΔͨΊͷ Ϟδϡʔϧʢ0QFO/*ͷ֘౰ॲཧͷϥούʔʣ w 3(#ը૾ͱڑ཭ը૾͕Ґஔ߹ΘͤwಉظࡁΈͷঢ়ଶͰɺ 1PJOU$MPVE1PJOU5ܕΦϒδΣΫτͱͯ͠औಘͰ͖Δ  1$-ͷجຊͷ঺հ

Slide 19

Slide 19 text

఺܈ͷϦΞϧλΠϜऔಘ #include pcl::OpenNIGrabber grabber(argv[2]); boost::function cloud_cb = boost::bind (&OpenNIViewer::cloud_callback,this, _1); boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);ɹ// cloud_cbؔ਺Λొ࿥ void cloud_callback (const CloudConstPtr& cloud) { boost::mutex::scoped_lock lock (cloud_mutex_); cloud_ = cloud; //ຖϑϨʔϜ͝ͱͷcloud΁ͷॲཧΛ͜͜ʹهड़ }  0QFO/*(SBCCFSʹCJOEͨؔ͠਺ͷҾ਺Ͱɼ֤ϑϨʔϜͷ 1PJOU$MPVEΦϒδΣΫτ͕औಘͰ͖Δ ຖϑϨʔϜͷॲཧΛίʔϧόοΫؔ਺ʹهड़͢Δ 1$-ͷجຊͷ঺հ

Slide 20

Slide 20 text

1$-7JTVBMJ[FS w 1$-ͷ఺܈Λͱͯ΋؆୯ʹ%ՄࢹԽ͕Ͱ͖Δ PQFO$7Ͱ͍͏IJHI(6*  w Ϛ΢ε΍ΩʔϘʔυͷೖྗ΋ड͚෇͚Δɽ w %Ϟσϧ PCKϑΝΠϧ౳ ΋ಉ࣌ʹදࣔͰ͖ɺ%σʔλʹॏཁͳ๏ઢͷ ՄࢹԽػೳ΋࠷ॳ͔Β౥ࡌ ՄࢹԽπʔϧ 1$-7JTVBMJ[FS  ͕ఏڙ͞Ε͍ͯΔ͓͔͛Ͱɼ ఺܈ॲཧͷΈʹूதͰ͖Δͱ͍ ͏ϝϦοτΛ1$-͕࢝Ίͯఏڙ Ͱ͖͍ͯΔ  ˞ ୈ൛ͷ೥ݱࡏͰ͸ɼଞʹ΋ଟ͘ख ஈ͕͋Γɼ͋͘·Ͱ೥౰࣌ͷ࿩Ͱ ͋Δ͜ͱʹ஫ࢹ 1$-ͷجຊͷ঺հ

Slide 21

Slide 21 text

1$-ͷ๏ઢਪఆ w '-"//Λ༻͍ͨ,EUSFFʹΑΔۙࣅ࠷ۙ๣ ୳ࡧ QDM/PSNBM&TUJNBUJPO  w *OUFHSBM*NBHFΛ༻͍ͨߴ଎ͳ๏ઢਪఆ QDM*OUFHSBM*NBHF/PSNBM&TUJNBUJ PO  ͜ΕΒͷΫϥεʹؙ౤͛͢Δ͚ͩͰ๏ઢਪఆ͕Մೳ ʹ1$-͸ 0QFO$7ͷΑ͏ʹ ศརͳϥΠϒϥϦͰ͋Δ ˞ ୈ൛ͷ೥ݱࡏͰ͸ʮৄղ࣍ݩ఺܈ॲཧʯ͕࠾༻͍ͯ͠Δʮ0QFO%ʯ ΋ศརͰ͋Δɽࠓ͸1$-͚͕ͩબ୒ࢶͱ͍͏ঢ়گͰ͸ͳ͍ɽਂ૚ֶशϕʔεͷ %఺܈ॲཧʹ͍ͭͯ΋ɼଟ਺ιϑτ΢ΣΞ΋ެ։͞Ε͍ͯΔ 1$-ͷجຊͷ঺հ

Slide 22

Slide 22 text

%఺܈ॲཧͰͷ๏ઢͷ໾ׂ w ௚ײతʹ͸ %ද໘ͷඍ෼ํ޲ͳͷͰɺը૾Ͱݴ͏Τοδʹ૬౰ w ҙຯ෼ׂ΍෺ମೝࣝͳͲΛߦ͏্Ͱɺॏཁͳಛ௃ϕΫτϧͱͳΔ w ·ͨɼ%఺܈͸ϝογϡॲཧʹ΋࿈ܨͰ͖Δ w ϝογϡॲཧͰ΋๏ઢํ޲͸ॏཁͳಛ௃  1$-ͷجຊͷ঺հ

Slide 23

Slide 23 text

 1$-ͷϝΠϯϞδϡʔϧ܈ 1$-ͷجຊͷ঺հ

Slide 24

Slide 24 text

 ༗ྉηϛφʔͰղઆ͍ͯ͠Δ͏ͪɺ ʮ'JMUFSTʯϞδϡʔϧͷղઆͷΈɼຊ೔͸঺հ͠·͢ 1$-ͷجຊͷ঺հ

Slide 25

Slide 25 text

'JMUFSTϞδϡʔϧ w ఺܈޲͚ͷϊΠζ΍֎Ε஋আڈɺฏ׈ԽͳͲͷϑΟϧλϦϯάΛఏڙ w ओͳΞϧΰϦζϜɿ w ಛఆͷྖҬ͚ͩநग़ 1BUI5ISPVHI  w ฏ׈Խ #JMBUFSBM'JMUFS  w μ΢ϯαϯϓϦϯά 7PYFM(SJE fi MUFS  w ֎Ε஋আڈʢ4UBUJTUJDBM0VUMJFS3FNPWBMʣ  1$-ͷجຊͷ঺հ

Slide 26

Slide 26 text

'JMUFSJOHͷඞཁੑ w ͕݀͋Δˠ݀ຒΊॲཧ 4VSGBDFϞδϡʔϧ  w ϊΠζ͕ଟ͍ w ࿈ଓͨ͠ද໘্ͰͷԜತˠ#JMBUFSBM'JMUFSͰΤοδอଘͨ͠ ··ฏ׈Խ w ࢄൃతͳϊΠζʢεϖοΫϧϊΠζʣ ˠ4UBUJTUJDBM0VUMJFS3FNPWBMͰ֎Ε஋আڈ w σʔλྔ͕ଟ͍ˠ7PYFM(SJE'JMUFSͰμ΢ϯαϯϓϦϯά %ηϯαʔͷੜσʔλ͸ดͨ͡ʢ݀ͷແ͍ʣ حྷͳ఺܈Ͱ͸ͳ͍ͷͰલॲཧͷඞཁੑ͋Γ  1$-ͷجຊͷ঺հ

Slide 27

Slide 27 text

1BTT5ISPVHI'JMUFS pcl::PointCloud::Ptr cloud (new pcl::PointCloud); pcl::PointCloud::Ptr cloud_filtered (new pcl::PointCloud); pcl::PassThrough pass; pass.setInputCloud (cloud); pass.setFilterFieldName ("z"); pass.setFilterLimits (0.0, 1.0); //pass.setFilterLimitsNegative (true); ࢦఆൣғΛऔΓআ͘৔߹ pass.filter (*cloud_filtered); ೖྗ఺܈ͷ͏ͪɼࢦఆͨ̍࣍͠ݩ ͜͜Ͱ͸[ ํ޲ͷಛఆ ͷൣғͷ఺܈ͷΈΛɼϑΟϧλϦϯάॲཧͰऔಘͰ͖Δ  1$-ͷجຊͷ঺հ

Slide 28

Slide 28 text

7PYFM(SJE'JMUFS // ࢦఆͨ͠voxel grid·Ͱμ΢ϯαϯϓϦϯά pcl::VoxelGrid vg; vg.setInputCloud (cloud); vg.setLeafSize (0.01f, 0.01f, 0.01f); //0.01mཱํͷάϦουΛઃఆ vg. filter (∗cloud filtered ); w ࢦఆͨ͠7PYFM(SJEͷେ͖͞·Ͱ఺܈ΛϘΫηϧԽ w ֤άϦου͸άϦου಺ͷ఺ͷதԝ஋Ͱۙࣅ͞ΕΔ  1$-ͷجຊͷ঺հ

Slide 29

Slide 29 text

4UBUJTUJDBM0VUMJFS3FNPWBM pcl::StatisticalOutlierRemoval sor; sor.setInputCloud (cloud); sor.setMeanK (50); sor.setStddevMulThresh (1.0); sor.filter (*cloud_filtered); w ہॴ͝ͱͷີ౓ʹै͍ɺ఺ΛϑΟϧλϦϯά w ֤ྖҬͰฏۉີ౓͔Βൺ΂ͯεύʔεͳ఺Λআڈ  1$-ͷجຊͷ঺հ

Slide 30

Slide 30 text

લ൒ͷ·ͱΊ w 1PJOU$MPVE-JCSBSZͷجຊ͚ͩ঺հɿ w 1PJOU$MPVEͱ3(#%σʔλͷߏ଄ʹ͍ͭͯಋೖ w ,JOFDUΛ࢝Ίͱ֤ͨࣾ͠σϓεηϯαʔ͔Β؆୯ʹ ϦΞϧλΠϜͷ఺܈ΛऔಘՄೳ w 1$-7JTVBMJ[FS͕͋ΔͷͰ%ՄࢹԽ΋؆୯ w ๛෋ͳެࣜνϡʔτϦΞϧͰߋʹษڧ͠·͠ΐ͏  1$-ͷجຊͷ঺հ

Slide 31

Slide 31 text

ޙ൒ͳͥ఺܈ॲཧ͔ʁ ͳͥ఺܈ॲཧ͔ʁ 

Slide 32

Slide 32 text

ʮίϯϐϡʔλϏδϣϯϏδϣϯΫΠζʯ ͷίʔφʔ ࣍ͷεϥΠυ͔Βͷ֤໰୊ʹ͍ͭͯ ʮը૾ೖྗͱσϓεೖྗͷͲͪΒͷํ͕ ؆୯ʹޮ཰Α͘ղ͚Δ͔ʁʯ ʹ͍ͭͯɼΈͳ͞·ʹ౴͑ͯ΋Β͍·͢  ͳͥ఺܈ॲཧ͔ʁ

Slide 33

Slide 33 text

2ηάϝϯςʔγϣϯ w "ը૾ w #σϓε IUUQXXXFFDTCFSLFMFZFEV 3FTFBSDI1SPKFDUT$4WJTJPO HSPVQJOHSFTPVSDFTIUNM IUUQDTOZVFEVdTJMCFSNBOQSPKFDUT JOEPPS@TDFOF@TFH@TVQIUNM  ͳͥ఺܈ॲཧ͔ʁ

Slide 34

Slide 34 text

2ਓݕग़ w "ը૾ w #σϓε  ͳͥ఺܈ॲཧ͔ʁ

Slide 35

Slide 35 text

,JOFDUͷਓ෺࢟੎ਪఆɿ ৭ɾςΫενϟ͕ؔ܎ͳ͍యܕྫ σϓεͷΈͰܭࢉ͍ͯ͠ΔͷͰ ը૾͔Βͷೝࣝͱҧ͍  ܗ͚ͩͰࣝผ͠ɺҥ෰ɾഽͷςΫενϟ͸࢖༻͠ͳ͍ ˞ਓ෺ྖҬͷநग़΋ ۭؒͷ഑ஔ͚͚ͩͩͰ ߦΘΕ͍ͯΔ  ͳͥ఺܈ॲཧ͔ʁ ਤɿஶऀͷʮίϯϐϡʔλϏδϣϯͷηΧΠʯͷهࣄΑΓ

Slide 36

Slide 36 text

ը૾ಛ௃WT఺܈ಛ௃ <֤࠲ඪͷੜσʔλ> ఺"ͱ఺#ͷ σϓε ˠ%࠲ඪ ͷҧ͍ ఺"ͱ఺#ͷ 3(#஋ͷҧ͍  ͳͥ఺܈ॲཧ͔ʁ

Slide 37

Slide 37 text

఺"ͱ఺#ͷ %Τοδํ޲ͷҧ͍ ఺"ͱ఺#ͷ %๏ઢํ޲ͷҧ͍ ύον಺ͷ)0( 4*'5ͳͲ αʔϑΣεൣғ಺ͷ๏ઢώετάϥϜ ը૾ಛ௃WT఺܈ಛ௃ <ඍ෼஋>  ͳͥ఺܈ॲཧ͔ʁ

Slide 38

Slide 38 text

8IZ%  ෺ମೝࣝͷ৔߹ ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻ ޫ؀ڥɾ൓ࣹͳͲͰɼlೋ࣍ݩը૾Ͱ͸ରԠ෇Ͱ͖ͳ͍ঢ়گz ˠσϓε %ܗঢ় ͕͋Ε͹ɼͳΜͱ͔Ͱ͖ͦ͏ʂʂ  ͳͥ఺܈ॲཧ͔ʁ

Slide 39

Slide 39 text

lೋ࣍ݩը૾͸෺ମೝࣝ ҙຯநग़ ʹࣦഊ͢Δ͜ͱ͕͋Δz  ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻ 8IZ%  ෺ମೝࣝͷ৔߹ ͳͥ఺܈ॲཧ͔ʁ

Slide 40

Slide 40 text

l%ը૾͸ͨͩͷ̎࣍ݩ౤ӨͰ͋Δz ʢ˞ͪ͝Όͪ͝Όͱ෺͕ଟ͍৔ॴͰࣦഊ͕ͪ͠ʣ  ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻ ͳͥ఺܈ॲཧ͔ʁ 8IZ%  ෺ମೝࣝͷ৔߹

Slide 41

Slide 41 text

QDM3FDPHOJUJPO w %ಛ௃ϕʔεͰςϯϓϨʔ τ఺܈ͱͷؒͰϚονϯά w ෺ମΛೝࣝ %࢟੎ਪఆ w ௚ײతʹ͸ ը૾ಉ࢜Ͱͷ 4*'5Ϛονϯάͷ࣍ݩ൛ IUUQQPJOUDMPVETPSHEPDVNFOUBUJPOUVUPSJBMT DPSSFTQPOEFODF@HSPVQJOHQIQDPSSFTQPOEFODFHSPVQJOH  ͳͥ఺܈ॲཧ͔ʁ

Slide 42

Slide 42 text

ϓϦϛςΟϒݕग़ ఺܈WTը૾ 3"/4"$ʹΑΔฏ໘ݕग़ )PVHIม׵ʹΑΔ௚ઢݕग़ ͳͥ఺܈ॲཧ͔ʁ 

Slide 43

Slide 43 text

ฏ໘ݕग़ฏ໘Ҏ֎Λநग़ ˞1$-ͷ&VDMJEJBO$MVTUFSJOHΛ࢖༻ %఺܈͸ɼฏ໘্ͷ෺ମ நग़͕؆୯ʂʢۭؒൣғ Ͱ෼͚Δ͚ͩͳͷͰʣ ᶅ෺ମநग़݁ՌʢҰ൪ࠨͷ෺ମʣ ᶄฏ໘ݕग़ ͜ͷ఺܈Λᶃ͔ΒऔΓআ͘ ᶃೖྗͷ఺܈ ͳͥ఺܈ॲཧ͔ʁ 

Slide 44

Slide 44 text

1$-ͷ3(#%ਓ෺ݕग़  ը૾ɿ*"41$-νϡʔτϦΞϧΑΓ w চݕग़ͷԠ༻ྫ w ॲཧखॱ w চฏ໘ݕग़ લॲཧ  w &VDMJEJBO$MVTUFSJOH w )0(ਓ෺ݕग़ث ͳͥ఺܈ॲཧ͔ʁ

Slide 45

Slide 45 text

ը૾ೖྗͰͷॲཧͰ΋ 
 চฏ໘͘Β͍ਪఆͰ͖Δ͕ ఺܈͕ͳ͘ ը૾ೖྗ͔ΒͰ΋ɼ ʮᶃΧϝϥΩϟϦϒϨʔγϣϯ ʮᶄচͷ%࠲ඪܥ͕ط஌ʯ Ͱɼচ໘ͷີͳ࠲ඪܥΛٻΊΒΕΔ ྫɿࠨਤ ɽ ͔͠͠ʮฏ໘తͳද໘ চ΍น ʯ΍ʮ௚ઢݕग़Ͱ͖Δচ໛༷ʯ Ҏ֎Ͱ͸ɺচͷ࠲ඪܥ͕ը૾ຕ͔Β͸ਪఆͰ͖ͳ͍ σϓεηϯαʔͰ͋Ε͹ɺ চʹݶΒͣ  γʔϯͷ%ද໘ܗঢ়͕ɺ࣮࣌ؒʹऔಘͰ͖Δ  ͳͥ఺܈ॲཧ͔ʁ

Slide 46

Slide 46 text

73 "3  σϓεηϯαʔ΋࢖༻Ͱ͖Δͱͨ͠Βʁ ର৅෺΍ର৅ਓ෺ɺपғͷۭؒͷ%ܗঢ় ಈ͖͕Θ ͔͍ͬͯΔͳ͔Ͱʮ$(Λγʔϯͱಉ࣌දࣔʯ͢Δ ྫɿ w Ծ૝ࢼணϛϥʔͰͷ༸෰$(ࢼணɽ w εϚϗ σϓεηϯαʔͰ"3 ήʔϜ  w 73ΰʔάϧ /BUVSBM6TFS*OUFSGBDFͳͲ ʢσϓεηϯαʔొ৔Ҏલͷʣ15".ͳͲͷը૾ϕʔε"3Ͱ͸ɺ ը૾͔Β༧ଌͨ͠ฏ໘্ʹ͔͠ॏ৞Ͱ͖ͳ͔ͬͨ  ͳͥ఺܈ॲཧ͔ʁ

Slide 47

Slide 47 text

%ܗঢ়ΛࡱΔGPS%ϓϦϯτ w %ϓϦϯλɿओͳೖྗσʔλ͸ʮ$"%$(ιϑτͰ ࡞੒ͨ͠%ϞσϧʯͰ͋ͬͨ Ϟσϧ ϓϦϯτ݁Ռ ࣮෺΋εΩϟϯͯ͠ೖྗσʔλͰϓϦϯτ IUUQXXXQPJOUDMPVEKQCMPH@O  ͳͥ఺܈ॲཧ͔ʁ

Slide 48

Slide 48 text

%ΛࡱΔGPSෆಈ࢈ɾݐங w ߴਫ਼౓ͷ%εΩϟφʔ ਺ඦສԁ Λ༻͍ͯɺͬ͠ ͔Γߴਫ਼౓ʹγʔϯΛ%Խ ˞-J%"3ܭଌ͸ߴՁ ,JOFDUϕʔεͷʮ਺ेສԁͷ%εΩϟφʔʯͰ ࠓޙ͸ࣄ଍Γ͍ͯ͘ʁʁ  ͳͥ఺܈ॲཧ͔ʁ

Slide 49

Slide 49 text

ϞόΠϧεΩϟϯ 4USVDUVSF4FOTPS 5BOHPͳͲ w ෺΍ɺਓɺۭؒ͸ɺλϒϨοτ΍εϚϗͰ%εΩϟϯ͢Δ࣌୅΁ ʢདྷ೥೥ʹϒϨΠΫʁʣ w 4-".͕ຽओԽʢ௿Ձ֨Խʣ͠͸͡ΊΔɺͱ͍͏ྲྀΕͱ΋ݴ͑Δ 4USVDUVSF4FOTPS"U3JQMFZT#FMJFWF*U0S/PU IUUQXXXZPVUVCFDPNXBUDI W+NH3E'20-1X  ͳͥ఺܈ॲཧ͔ʁ ˞ ୈ൛ͷݱࡏͰ͸ɼεϚϗɾλϒϨοτͷߴڃϥΠϯʹ ͸ɼσϓεηϯαʔ౥ࡌࡁΈ͕ͩɼ͜ͷ౰࣌͸·ͩʮεϚϗ֤ ͕ࣾɼࠓޙ͜ΕΒʹखΛग़͔͢΋ʁʯͷஈ֊Ͱ͋ͬͨɽ

Slide 50

Slide 50 text

ޙ൒ʮͳͥ఺܈ॲཧ͔ʁʯ·ͱΊ w ʢ৭Λແࢹͯ͠ʣ࣍ݩͷܗ͚ͩͰର৅ΛೝࣝͰ͖Δ w ʢਓ޻෺ͩͱಛʹʣฏ໘΍ԁபͳͲϓϦϛςΟϒ͋ͯ͸ Ίָ͕ʢ*MPWF3"/4"$ʣ w ର৅ΛϑϧεΩϟϯ͢Ε͹%ੈքશମΛͦͷ··%Ͱ ೺ѲɾՄࢹԽͰ͖Δ w ࡱͬͨର৅͸σβΠϯʹ΋׆͔ͤΔϞόΠϧ3(#%ηϯ αʔͷొ৔Ͱɺ%఺܈σʔλ͸དྷ೥Ҏ߱େྔʹ૿͑Δʁ ͳͥ఺܈ॲཧ͔ʁ

Slide 51

Slide 51 text

%఺܈ͷํ͕ɼزԿతද໘৘ใ͕ϦονʹಘΒΕΔ෼ ͚ͩɼը૾ೖྗΑΓ΋֤Ϗδϣϯ໰୊Λղ͘ͷ͕؆୯ɽ ຊ೔ͷ5BLFIPNFNFTTBHF ఺܈ॲཧ͸ʮΑΓ؆୯ʯ  ˞ தڃऀͷํ͸ɼࢲͷαΠτʮ$7.-ΤΩεύʔτΨΠυʯ΋νΣοΫ͠ ͯΈ͍ͯͩ͘͞ɽࠓޙɼ఺܈ɼ%ॲཧͷهࣄ΋૿΍͍͖ͯ͠·͢