Development of Autonomous Navigation System Using 3D Map with Geometric and Semantic Information. - Yoshihiro Aotani; Takashi Ienaga; Noriaki Machinaka; Yudai Sadakuni; Ryota Yamazaki; Yuki Hosoda; Ryota Sawahashi; Yoji Kuroda (J. Robotics Mechatronics, 2017)