Localization Udacity English Japanese

LocalizationYouTube↗ IA↗(long shot)
Education 25.7K views 165 likes 3 dislikes 02 Mar 2012

Udacity 651K subscribers United States YouTube↗

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The very first problem I'm trying to solve is called localization.

まず最初の問題点は位置推定と呼ばれるものです

It involves a robot that's lost in space.

空間で迷子になったロボットがいます

It could be a car. It could be a mobile robot.

ロボットカーや移動ロボットかもしれません

So here is the environment, and the poor robot has no clue where it is.

自分の位置をまったく把握していないロボットがいるとします

Similarly, we might have a car driving on a highway,

もしくは高速道路を運転するロボットカーかもしれません

and this car would like to know where it is. It is inside the lane or is it crossing lane markers?

ロボットカーは自分の位置や車線内を走行しているのか知りたいとします

Now the traditional way to solve this problem is by using satellites.

この問題を解決するための従来の方法は衛星を使うことです

These satellites emit signals that the car can perceive.

衛星は車が認識できる信号を発信します

That's known as GPS, short for "global positioning system,"

それはGPSと呼ばれる全地球測位システムです

and it's what you have in your dashboard if you have a car with GPS

もしあなたがGPSつきの車を所有していたら

that shows you the maps and shows you where you are.

GPSは地図や現在位置を示してくれます

Now unfortunately, the problem with GPS is its really not very accurate.

しかし残念ながらGPSの位置情報はあまり正確ではありません

It's really common for a car to believe to be here but it has

車がここにいると思っていても

2 meters all the way up to 10 meters of error.

2～10メートルの誤差があるのです

So if you try to stay in the lane with 10 meters of error,

10メートルの誤差があるのに車線内を走行しようとしても

you're far off, and you're driving right over here, and you crash.

大きく外れて運転しているため衝突します

So for our self-driving cars, to be able to stay in lanes using localization,

位置推定を使って車線内を自律運転するためには

we need something like 2-10 centimeters of error.

2～10センチメートル程度の誤差に抑えなければなりません

Then we can drive with GPS in lanes.

それが可能であれば車線内をGPSで運転できます

The question is, how can we know where were are with 10 cm accuracy?

では10センチメートル以内の誤差で位置を把握する方法は？

That's the localization question.

それが位置推定の問題です

In the Google self-driving car, localization plays a key role.

Googleの自動運転車では位置推定が重要な働きをします

We record images of the road surface and then use the techniques

この講義で教える技術を用いることで道路表面の画像記録から

I'm just about to teach you to find out exactly where the robot is.

ロボットの位置を正確に把握できるようになります

It does so within a few centimeters of accuracy,

数センチメートル以内の誤差に抑えられます

and that makes it possible to stay inside the lane even if the lane markers are missing.

この技術を用いれば車線区分線がない場合でも車線内を走行できます

So localization has a lot of math, but before I dive into mathematical detail,

位置推定は多くの数学的知識を含みますが

I want to give you an intuition for the basic principles.

まずは基本概念を直感的に捉えてほしいのです

I want to tell you the story of how we will localize this,

どのように位置推定を行うかを説明してから

and then we can go through the math together so you can understand it.

詳しく数学的に説明すれば理解しやすいでしょう

I also want to let you program your own localizer so you can program a self-driving car.

また自分で位置推定や自動運転車をプログラミングできるようになってもらいたいのです

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