First Authorに俺はなるっ！! IROS’23 CCC2023 FY

'JSTU"VUIPSʹԶ͸ͳΔͬ*304` ੢ࢁᠳେ!FOVUPFTV DWQBQFSDIBMMFOHF$POGFSFODFXJOUFS': OPUFDWQBQFSDIBMMFOHFBEWFOUDBMFOEFSEBZ

ࣗݾ঺հ w גࣜձࣾ;0;0 ػցֶशΤϯδχΞ w ࠷ۙͷڵຯ w 3FTFBSDIɿ$7 /-1
"4%ʢҟৗԻݕ஌ʣ w %FWFMPQNFOUɿυϝΠϯۦಈઃܭ w ࢿྉ͸ެ։ࡁΈ w ຊߨԋΛݟͳ͕Βɾޙ΄Ͳ֬ೝ༻Ͱ͢ ˞ຊൃද͸म࢜՝ఔ࣌ͷݚڀ੒ՌͰ͋Γגࣜձࣾ;0;0ͷऔΓ૊ΈͰ͸͋Γ·ͤΜ !&OVUPFTV 4IPUB/JTIJZBNB

ࠓ೔࿩͢͜ͱ Ͳ͏΍ͬͯ"DDFQUʹ݁ՌΛม͔͑ͨ ͲΜͳݚڀश׳ʹ͔ͨ͠

ಛʹฉ͍ͯݟͯཉ͍͠ਓ 5PQ$POGFSFODFʹ౤ߘ͍ͨ͠ਓ ๩͍͠ਓ ෳ਺ͷ׆ಈʹ᪳᪯͍ͯ͠Δਓ

໨࣍ ࿦จ֓ཁ *304`ͱ*304` ࢼߦࡨޡ

75*%# *ODJEFOU5BSHFUT$BS $POUBDU-FWFM5PVDI &OWJSPONFOU.BKPSSPBE %FSJWBUJPO0CKFDU.Z$BSWT"OPUIFS 1SFEJDUBCJMJUZ/PU1SFEJDUBCMF 3FBDUJPO"WPJEBODF4UBUF 4VEEFO4UPQ5JNF/JHIU5 SB⒏D-BOF3JHIUIBOEUSB⒏D 8FBUIFS4VOOZ$MPVEZ
*OUFSOFU $PMMFDUFEWJEFPT "OOPUBUFE7JEFPT -BCFMT 1SPQPTFE%BUBTFU WJEFPT 5SB⒏D*ODJEFOU%BUBCBTFXJUI.VMUJQMF-BCFMT*ODMVEJOH7BSJPVT1FSTQFDUJWF&OWJSPONFOUBM*OGPSNBUJPO ৄࡉ͸BS9JWʹͯ͝ཡ͍ͩ͘͞ 5SB⒏DBDDJEFOUSFDPHOJUJPOɿJOQVU͸USB⒏DWFJEFPT PVUQVU͸QPTJUJWFOFHBUJWFͳͲ طଘͷσʔληοτϏσΦ਺ɾࣄނঢ়گͷϥϕϧ͕ෆ଍ ݁Ռަ௨ࣄނೝࣝɾަ௨ࣄނఔ౓༧ଌͷਫ਼౓޲্ 4IPUB/JTIJZBNB 5BLVNB4BJUP 3ZP/BLBNVSB (P0IUBOJ )JSPLBUTV,BUBPLB ,FOTIP)BSB

໨࣍ ࿦จ֓ཁ *304`ͱ*304` ࢼߦࡨޡ

*304`3FKFDUཧ༝ ൺֱ͕ऑ͍ w ಛʹ3FMBUFE8PSL w αʔϕΠ͕ѹ౗తʹ଍Γͳ͍ ༗ޮੑͷڧௐ w ߟ࡯͕ബ͍ ࿦จͷߏ੒
w &YQFSJNFOUTͱ%JTTDVTTJPO͕Ұॹ w ओு͕ෆ໌ ӳ࿦ࣥචྗ w ΄ͱΜͲݪ͞ΜยԬ͞Μதଜ͞Μʹमਖ਼͞ΕΔ

ൺֱ͕ऑ͍*304` ಋೖ෦෼ ൺֱର৅͕ෆ໌ σʔληοτͷઆ໌ͷΈ ٞ࿦ͨ͠಺༰͕ܽଛ͍ͯ͠Δ ڧΈͷݴٴ͕ऑ͍ ෆ਌੾ લड़ͷઆ໌ͱද͔Β࡯ͯ͠ൺֱͤ͞Δ ૯ͯ͡ *304`ͷؔ࿈ݚڀ
w จষ͕௕͗͢ΔͨΊಡΈͮΒ͍ w ൺֱର৅ͷઆ໌ͷΈ͕ଟ͍ w զʑͷσʔληοτͱൺֱ͕͞Ε͍ͯͳ͍ w αʔϕΠ͕ѹ౗తʹෆ଍ w Ұ൪ॏཁͳຊݚڀͷཱͪҐஔ͕ඍົ ͭͷσʔληοτʹରͯ͠આ໌͕௕͍ ҟৗݕग़ͷ࿩͕ग़ͯ͘Δ આ໌͕ଟ͘ൺֱ͕গͳ͍ͨΊ

ൺֱͷऑ͞վળ*304` ಋೖ෦෼ طଘͷσʔληοτΛ၆ᛌతʹड़΂Δ ၆ᛌతʹݟͨσʔληοτͷ 1SPT$POTΛड़΂Δ σʔληοτͷλΠϓʹΑͬͯ ࣮ݱͰ͖ͳ͍͜ͱΛ࿦ཧతɾ۩ମతʹड़΂Δ σʔλྔ͕গͳ͍͜ͱΛࣔࠦ ͦΕʹରॲͨ͠ݚڀʹ͍ͭͯݴٴ ओཁͳൺֱର৅ͷ՝୊Λड़΂Δ
σʔληοτͷઆ໌ͱ໰୊Λड़΂Δ զʑͱൺֱͯ͠ඍົʹ༻్͕ҟͳΔ ͜Ε·Ͱͷ෬ઢΛճऩ͢Δ ൺֱͷ݁ՌզʑͷఏҊ͢ΔՁ஋ɾࠩҟΛड़΂Δ ൺֱͯ͠େ͖͍σʔληοτͱओு͢Δࠜڌ͕໌֬ ղ͘λεΫΛେ͖ͳ࿮૊ΈͰઆ໌ ೝࣝͱ͍͏఺Ͱ͸ߦಈೝࣝ ߦಈೝࣝͰ؀ڥ৘ใΛ෇༩ͨ͠σʔληοτ͕༗༻ ߩݙɾ৽نੑ " #ͷηΫγϣϯͷ෬ઢճऩ ߩݙͷՁ஋ͱ৽نੑΛड़΂Δ *304`ͷؔ࿈ݚڀ

*304`WT*304` ݪจ຋༁ͰಡΈฦͯ͠ΈΔͱಡΈ΍͢͞ཧղ͠΍͢͞આಘྗ͕શ͘ҧ͏ʢੋඇʣ *304`ͷؔ࿈ݚڀ *304`ͷؔ࿈ݚڀ

*304`·Ͱʹߦͬͨௐࠪ ৽چؚΊͯ࠶౓ਫ਼ಡ τϨϯυɾϝλαʔϕΠ΋·ͱΊΔ ਫ਼ಡͷ۩ମྫ ؔ࿈ݚڀ͔Β΋޿ٛͷ෼໺ɾιϦϡʔγϣϯΛௐࠪ ࿦จͷϦετԽ(PPHMFTDIPMBSͰڊਓͷݞͷ্ʹཱͬͨɾؔ࿈ݚڀړΓɾLFZXPSETVSWFZ ਫ਼ಡˠHJUIVCQSPKFDUQBHFؚΊͯݚڀΛཧղ଎ಡˠམ߹ϑΥʔϚοτ

ߟ࡯*304` ߟ࡯ʁ ࣮ݧͷ਺஋ͷྻڍׂ͕ *304`ͷ&YQFSJNFOUT%JTDVTTJPO ߟ࡯ʁ ͳͥߴ͘௿͘ͳͬͨͷ͔ෆ໌ &YQFSJNFOUTͱ%JTDVTTJPO͕೴಺Ͱͪ͝Όͪ͝Όʹͳ͍ͬͯΔঢ়گ

ߟ࡯*304` ࿦͍ͨ͡ࣄ࣮ͷ໌ࣔ ༗ޮੑͱࠜڌ &YQFSJNFOUTΛൺֱͯ͠ ͲͷΑ͏ͳཁҼʹΑͬͯ ༗ޮੑ͕ओுͰ͖Δ͔Λड़΂͍ͯΔ ࿦͍ͨ͡ࣄ࣮ͷ໌ࣔ QPTJUJWFཁҼ OFHBUJWFཁҼ OFHBUJWFͳݪҼ
ࠓޙͷਫ਼౓޲্ͱະରԠՕॴ զʑͷσʔληοτΛ༻͍ͯ ϕϯνϚʔΫΑΓਫ਼౓޲্ͷݟࠐΊΔ Մೳੑͷ͋Δख๏ ະରԠཧ༝ *304`ͷ%JTDVTTJPO

࿦จͷߏ੒*304`WT*304` &YQFSJNFOUTͱ%JTDVTTJPOͷ੹຿෼཭ʹΑΔٞ࿦ͷਂΈ͕޲্ *304`&YQFSJNFOUT%JTDVTTJPO *304`&YQFSJNFOUT%JTDVTTJPO

w &YQFSJNFOUTͱ%JTTDVTTJPO͕Ұॹ w ओு͕ෆ໌ ӳ࿦ࣥචྗ w ΄ͱΜͲݪ͞ΜยԬ͞Μதଜ͞Μʹमਖ਼͞ΕΔ ࢦఠ ݪ͞Μʮ͜ͷจষͲ͏͍͏ҙຯͰ͔͢ʁʯ ࢦఠ ݪ͞Μʮݴ͍ճ͠͸ͬͪ͜ͷํ͕ྑ͍Ͱ͢ʯ ӳޠֶश͸͕ͨͦ͜͠·ͰมΘΒͳ͔ͬͨ *304`ɿࢦఠଟ਺ɼ*304`ɿࢦఠ૿

໨࣍ ࿦จ֓ཁ *304`ͱ*304` ࢼߦࡨޡ

ࢼߦࡨޡ w લఏ৚݅ w म࢜ͷ೥ؒυϝΠϯͷҧ͏ݚڀ͕ͭৗʹฒߦ͍ͯͨ͠ʢશͯϦϞʔτʣ w म࢜ʢ"OPNBMPVT4PVOE%FUFDUJPOʣ w DWQBQFSDIBMMFOHFʢ7JEFP3FDPHOJUJPOʣ w
όΠτʢ/FVSPTDJFODFʣ w ʢաڈͷࣗ෼ͱൺֱ͢Δͱʣ๩͍͠ w ݁Ռ w *304`࣌ . ͸ཱࣦ྆ഊ w *304`࣌ . ͸ཱ྆੒ޭ

*304΁εϙοτΛ౰ͯͨ࣌ܥྻ Πϕϯτ ࣌ؒ DWQBQFSDIBMMFOHF *304` ೔ຊޠʒ *304` ӳޠʒ
*304` ʒ Πϕϯτ ࣌ؒ ͦΕҎ֎ ݚڀձ ݪߘʒ ݚڀձ ˞ԣ࣠ͷִؒ͸ਖ਼֬Ͱ͸͋Γ·ͤΜ JOUFSO ࢝ JOUFSO ऴ JOUFSO ࢝ JOUFSO ऴ म࿦ தؒൃදʒ தؒൃද म࿦ ֓ཁʒ ݚڀձ ࿦จʒ म࿦ ൃදձ ݚڀձ *304` ӳޠʒ *304` ӳޠʒ

*304`౤ߘ w ໾ׂ w ࣮૷ w %3FT/FUΛϚϧνϥϕϧԽ w ֶशɾਪ࿦ίʔυ w
σʔληοτपΓ w ͦͷଞ࣮ߦ؀ڥ w ࿦จࣥච w .FUIPE &YQFSJNFOUT $PODMVTJPO ࣮૷ ࣥච

*304`౤ߘ࣌ ͳཱ͕ࣦͥ྆ഊ͔ͨ͠ʁ ฒྻλεΫʹ׳Ε͍ͯͳ͔ͬͨ ฦ৴଎౓Λॏཁࢹ͍ͯ͠ͳ͔ͬͨ ࣮૷ํ๏͕؁͔ͬͨ ܭࢉࢿݯͷ༗ޮ׆༻
ಉظίϛϡχέʔγϣϯ͕ଟ͔ͬͨ *304` ೔ຊޠʒ *304` ӳޠʒ *304` ʒ ͦΕҎ֎ ݚڀձ ݪߘʒ ݚڀձ JOUFSO ࢝ JOUFSO ऴ JOUFSO ࢝ JOUFSO ऴ ϧʔϧͷൺֱʢৄࡉ͸OPUFʣ DWQBQFSDIBMMFOHF

*304`౤ߘ w ໾ׂ w ࣮૷ w ࠶ݱ࣮ݧɾ௥࣮ݧͷ࣮૷ w શͯͷίʔυͷϦϑΝΫλϦϯά w
ઃܭมߋʢ"TDFOEFSʣ w *TTVFυϦϒϯͳ։ൃɾमਖ਼ w ධՁࢦඪͷ࣮૷ w ࿦จࣥච w ࠶౓αʔϕΠ w શͯͷηΫγϣϯ ࣮૷ ࣥච

*304`౤ߘ࣌ म࿦ தؒൃදʒ தؒൃද म࿦ ֓ཁʒ
ݚڀձ ࿦จʒ म࿦ ൃදձ ݚڀձ *304` ӳޠʒ *304` ӳޠʒ ͳ্ཱ͕ͥ྆ख͍ͬͨ͘ͷ͔ʁ ࡞ۀ࣌ؒ؅ཧͷపఈ ܭࢉ࣌ؒͷ༗ޮ׆༻ ࣮૷ɾ࣮ݧͷ؅ཧ 4MBDL͸ͳΔ΂͘ૣ͘ฦ͢ ඇಉظͷίϛϡχέʔγϣϯΛ૿΍͢ ϛʔςΟϯάͷલʹ෼ఔ౓ࢿྉΛ੔ཧ͢Δ ʮ෼͔Βͳ͍ʯͱݴ͏ ৺ͷέΞ ϧʔϧͷൺֱʢৄࡉ͸OPUFʣ DWQBQFSDIBMMFOHF ͦΕҎ֎

̔ϧʔϧʢαΠΫϧʹ৐ͬͨޙʣ ந৅౓ͷߴ͍λεΫ ϛʔςΟϯάલͷࢿྉ֬ೝ ˞ࢿྉ࡞੒͸݁Ռ͕ग़ͨΒ͙͢ॻ͘ ཧ༝ɿղ૾౓͕ߴ͍๨ΕͬΆ͍ͷͰ ࿦จͷ࿮૊Έ΍ɾ࣮૷ͷઃܭ όοϑΝ͸औ͓ͬͯ͘ ˞༏ઌ౓ʹΑͬͯ͸ݚڀͷ࣌ؒ΋࢖͏ ͦͷͨΊͷҰिؒ؅ཧ (16Λճ͢
4MBDL͸௨஌࣍ୈฦ͢ ूத͍ͯͨ͠Βແࢹ͍ͯ͠Δ࣌΋͋Δ ϛϡʔτ͢Δνϟϯωϧબఆ͕ॏཁ ໌೔ͷλεΫܾΊ ࠓ೔ͷλεΫ͸ઌिܾΊ͍ͯΔ ௥Ճݮগ͕͋Δ͔֬ೝ ࣮ࡍͷΧϨϯμʔʢॴଐ͸มߋʣ (16͕ճ͍ͬͯΕ͹ࣥචଞλεΫ ਺ճ࣮ݧ͢Ε͹౰ͨΓ͕ͭ͘ ˞ޙड़͠·͕͢िؒͰ؅ཧͨ͠ํ͕ྑ͍৔߹΋͋Γ·͢

౤ߘ௚લɾۓٸ࣌ɾαΠΫϧʹ৐Δલ w ࿦จ౤ߘ௚લˠݟӽͨ͠༧ఆ؅ཧΛ͢Δ w ۓٸ࣌ͷόάରԠ w αΠΫϧʹ৐ΔલˠिؒͰλεΫΛ۠੾Δ w ཧ༝ɿαΠΫϧΛ࡞Δ࣮૷ʹ͢ΔͨΊ w
.BD6CVOUV྆ํ͔Β࠶ݱੑͷ͋Δ࣮ߦ؀ڥˠ%PDLFS 1PFUSZ w :BNMϑΝΠϧͷมߋͷΈͰ࣮ݧมߋՄೳˠ)ZESB ˞΋ͪΖΜಉ༷ͷ͜ͱ͕Ͱ͖Ε͹ٕज़બఆ͸ͳΜͰ΋ྑ͍Ͱ͢ w ࣮ݧऴྃͷ௨஌ˠ4MBDL8FCIPPLT w ධՁࢦඪ͕Ұ໨Ͱ෼͔Δ࣮ݧ؅ཧˠ.-qPX MPH΋BSUJGBDUT΁ w ϝΠϯQD͔ΒશͯʹΞΫηεՄೳʹ͢Δˠ"OZ%FTL 5FBN7JFXFS྆ํ w 4NBMMσʔλ࡞੒ɾ*OQVU 0VUQVU͕αϯϓϧͷਪ࿦ίʔυ w ༨༟͕ͳ͍࣌ʹ͙͢ཧղͰ͖ΔίʔυˠUZQFIJOU EPDTUSJOH w "TDFOEFSೝࣝલ͸ࣗલ"TDFOEFSೝࣝޙ͸ࣗ෼༻ʹมߋ ˞্هͷཧ༝Ͱࢲ͸ෳ਺λεΫΛಉ࣌ʹ։࢝͢Δͷ͸ෆՄೳͰͨ͠

্ख͍͔͘ͳ͍͜ͱ΋͋ͬͨ ࣗ෼ʹ߹͏΍ΓํͰվળ͍ͯ͘͜͠ͱ͕େࣄ OPUFൈਮ ͷ༧ఆ ৭ʑऴΘ͍ͬͯΔਓͷπΠʔτ ࠃࡍ௨Γ͕ே·Ͱ΍͍ͬͯͯΑ͔ͬͨͰ͢ɽ ๐੝ҿΜͰ͙͢৸ͯى͖ͯ ͙͢౥৐্࣌ؒ·Ͱࣥච͠·ͨ͠

DWQBQFSDIBMMFOHFͰͷ׆ಈ

ֶ෦࣌୅ͷೳྗDWQBQFSDIBMMFOHF׆ಈ ֶ෦ ݚڀࣨ ഑ଐ ଞͷݚڀ ࢝Ί DWQBQFS
DIBMMFOHF Ճೖ ֶ෦ ଔۀ म࢜ ݚڀࣨ ഑ଐ म࢜ मྃ w ը૾ͷݹయతΞϧΰϦζϜɿ͋Δఔ౓ w ػցֶशɿतۀͷΈɼ࣮૷ɿະܦݧ w ౷ܭɿॳาɼ࣮૷ɿ෦෼తʹՄೳ

ֶ෦࣌୅ͷऔΓ૊ΈDWQBQFSDIBMMFOHF׆ಈ w ϓϥΠόγʔอޢʹؔ͢Δߦಈೝࣝίϯϖ w ਓੜॳͷCBDLQSPQ w 7JEFP3FDPHͷఆྫ w ҙຯ͕Θ͔Βͳ͍ɹɹɾΞ΢τΠϯϓοτ͸ಉ࣌ w
ͱʹ͔࣭͘໰ ֶ෦ ݚڀࣨ ഑ଐ ଞͷݚڀ ࢝Ί DWQBQFS DIBMMFOHF Ճೖ ֶ෦ ଔۀ म࢜ ݚڀࣨ ഑ଐ म࢜ मྃ

ֶ෦࣌୅ͷऔΓ૊ΈDWQBQFSDIBMMFOHF׆ಈ w ஌ࣝͷ༌ೖɾ༌ग़ͷ૬৐ޮՌ ֶ෦ ݚڀࣨ ഑ଐ ଞͷݚڀ ࢝Ί
DWQBQFS DIBMMFOHF Ճೖ ֶ෦ ଔۀ म࢜ ݚڀࣨ ഑ଐ म࢜ मྃ

஌ࣝͷ༌ೖɾ༌ग़ʢOPUFʹॻ͖๨Εͨʣ ࿦จࣥච ػցֶश ߟ࡯ྗ ࣮૷ྗ ಈը ೝࣝ ҟৗԻ ݕ஌ EPNBJOTQFDJpDͳ
஌ࣝ ॾਕͷ݋Ͱ͸͋Δ͕࿨ू߹ΑΓྑ͘ͳͬͨ DWQBQFS DIBMMFOHF େֶӃ ΠϯλʔϯͳͲ w %PNBJOTQFDJpDͳ஌͕ࣝ ɹଞ෼໺ʹΞΠσΟΞ΍ιϦϡʔγϣϯΛ༩͑ͨ w ෳ߹஌ࣝͰղ͚Δ໰୊͕૿͑ͨ w جૅྗ͕޲্ͨ͠ w Ԡ༻ྗɾ৽͍ٕ͠ज़΁ͷཧղ଎౓͕޲্ͨ͠ w ޮ཰͕޲্ͨ͠ &OIBODFNFOU ৭ͷࣗ෼Ͱෳࡶͳ໰୊ʹରॲ͢Δ

-JGFJTUIJT *MJLFUIJT )BSWFZ4QFDUFS Ҿ༻4VJUT0⒏DJBM

-JGFJTUIJT *MJLFUIJT )BSWFZ4QFDUFS Ҿ༻4VJUT0⒏DJBM DWQBQFSDIBMMFOHFSFDSVJU

5IBOLZPVSGPSZPVSBUUFOUJPO ੋඇOPUFͷํ΋ಡΜͰΈ͍ͯͩ͘͞!

࣭ٙԠ౴ ˞גࣜձࣾ;0;0ʹؔ࿈͢Δ࣭໰ʹ͸͓౴͑Ͱ͖·ͤΜ"

First Authorに俺はなるっ！! IROS’23 CCC2023 FY

First Authorに俺はなるっ！! IROS’23 CCC2023 FY

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