イケダ ユウスケ   IKEDA Yusuke
  池田 雄介
   所属   東京電機大学大学院  未来科学研究科 情報メディア学専攻
   職種   助教(A)
言語種別 英語
発行・発表の年月 2019/01
形態種別 学術研究論文
査読 査読有り
標題 Three-dimensional noise and spatial mapping system with aerial blimp robot
執筆形態 共著
掲載誌名 Acoustical Science and Technology
掲載区分国外
出版社・発行元 The Acoustical Society of Japan
巻・号・頁 40(1),pp.12-22
著者・共著者 Ryouzi Saitou, Yusuke Ikeda, Yasuhiro Oikawa
概要 In this paper, a noise and spatial mapping system with a blimp robot is proposed. The proposed system achieved a silent, slow, and omnidirectional movement with a balloon filled with helium gas. Furthermore, the simultaneous localization and mapping (SLAM) technique is applied for the system's positional tracking and surrounding spatial mapping with a stereo camera. To evaluate our system, three experiments were conducted. First, the propeller rotational noises of the proposed system were compared to a general recreational-use multirotor. Next, the acoustical effects of a blimp, such as reflection and diffraction, were measured to decide the microphone position. Finally, a preliminary experiment was conducted to construct a simple three-dimensional noise map in a large experimental room. The results show that the proposed system could construct a three-dimensional indoor noise map by combining the sound information and the positional information.