{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,6]],"date-time":"2024-07-06T05:15:01Z","timestamp":1720242901459},"reference-count":12,"publisher":"Fuji Technology Press Ltd.","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JRM","J. Robot. Mechatron."],"published-print":{"date-parts":[[2023,4,20]]},"abstract":"We have been participating in the Tsukuba Challenge, an open experiment involving autonomous robots, since 2014. The technology of our robot has stabilized, and our robot has continued to win the Tsukuba Mayor Prize from 2018 to 2021 without changing the basic configuration of the body and navigation software. Here, we report the robot\u2019s structure as the project\u2019s current completed form. Our robot is designed with the policy of selecting the most rational technology (appropriate technology) to achieve the purpose, even if it is not the latest. For example, we used image-like two-dimensional data instead of a three-dimensional point cloud in map matching for robot positioning. For pedestrian signal recognition, which was required to perform an optional task, we did not use deep learning but rather conventional color image processing. These techniques are advantageous for balancing the execution time and accuracy required in the challenge.<\/jats:p>","DOI":"10.20965\/jrm.2023.p0279","type":"journal-article","created":{"date-parts":[[2023,4,19]],"date-time":"2023-04-19T15:02:23Z","timestamp":1681916543000},"page":"279-287","source":"Crossref","is-referenced-by-count":2,"title":["Development of Autonomous Moving Robot Using Appropriate Technology for Tsukuba Challenge"],"prefix":"10.20965","volume":"35","author":[{"given":"Yuta","family":"Kanuki","sequence":"first","affiliation":[{"name":"REVAST Co., Ltd., 2-68-12 Ikebukuro, Toshima-ku, Tokyo 171-0014, Japan"}]},{"given":"Naoya","family":"Ohta","sequence":"additional","affiliation":[{"name":"Faculty of Informatics, Gunma University, 1-5-1 Tenjin-cho, Kiryu, Gunma 376-8515, Japan"}]},{"given":"Nobuaki","family":"Nakazawa","sequence":"additional","affiliation":[{"name":"Graduate School of Science and Technology, Gunma University, 29-1 Hon-cho, Ota, Gunma 373-0057, Japan"}]}],"member":"8550","published-online":{"date-parts":[[2023,4,20]]},"reference":[{"key":"key-10.20965\/jrm.2023.p0279-1","unstructured":"B. Hazeltine and C. Bull, \u201cAppropriate Technology: Tools, Choices, and Implications (1st ed.),\u201d Academic Press, New York, 1999."},{"key":"key-10.20965\/jrm.2023.p0279-2","doi-asserted-by":"crossref","unstructured":"J. Redmon, S. Divvala, R. Girshick, and A.Farhadi, \u201cYou only look once: Unified, real-time object detection,\u201d Proc. of the Conf. on Computer Vision and Pattern Recognition (CVPR), pp. 779-788, 2016.","DOI":"10.1109\/CVPR.2016.91"},{"key":"key-10.20965\/jrm.2023.p0279-3","unstructured":"J. Redmon and A. Farhadi, \u201cYOLOv3: An Incremental Improvement,\u201d arXiv preprint, arXiv:1804.02767, 2018."},{"key":"key-10.20965\/jrm.2023.p0279-4","unstructured":"T. Cormen, C. Leiserson, R. Rivest, and C. Stein, \u201cIntroduction to Algorithms (2nd ed),\u201d Section 24.3, MIT Press and McGraw-Hill, 2001."},{"key":"key-10.20965\/jrm.2023.p0279-5","doi-asserted-by":"crossref","unstructured":"S. Toshiaki, K. Kazushige, and N. Ohta, \u201cMinimal Autonomous Mover \u2013 MG-11 for Tsukuba Challenge \u2013,\u201d J. Robot. Mechatron., Vol.26, No.2, pp. 225-235, 2014.","DOI":"10.20965\/jrm.2014.p0225"},{"key":"key-10.20965\/jrm.2023.p0279-6","doi-asserted-by":"crossref","unstructured":"Y. Chen and G. Medioni, \u201cObject Modelling by Registration of Multiple Range Images.\u201d Image Vision Computing, Vol.10, Issue 3, pp. 145-155, 1992.","DOI":"10.1016\/0262-8856(92)90066-C"},{"key":"key-10.20965\/jrm.2023.p0279-7","doi-asserted-by":"crossref","unstructured":"J. Besl and N. McKay, \u201cA Method for Registration of 3-D Shapes,\u201d IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol.14, Issue 2, pp. 239-256, 1992.","DOI":"10.1109\/34.121791"},{"key":"key-10.20965\/jrm.2023.p0279-8","unstructured":"P. Biber and W. Stra\u00dfer, \u201cThe Normal Distributions Transform: A New Approach to Laser Scan Matching,\u201d Proc. of the Int. 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Durrant-Whyte, \u201cSimultaneous localization and mapping (SLAM): part II,\u201d IEEE Automation Magazine, Vol.13, No.3, pp. 108-117, 2006.","DOI":"10.1109\/MRA.2006.1678144"},{"key":"key-10.20965\/jrm.2023.p0279-12","doi-asserted-by":"crossref","unstructured":"Y. Hara, T. Tomizawa, H. Date, Y. Kuroda, and T. Tsubouchi, \u201cTsukuba Challenge 2019: Task Settings and Experimental Results,\u201d J. Robot. 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