Hiroyuki Nakagomi

University of Yamanashi, Yamanashi Research Institute

Papers

Total Citations

H-Index

About

Hiroyuki Nakagomi is a robotics researcher specializing in autonomous navigation for challenging outdoor environments, particularly forestry and rough terrain. His work focuses on enabling mobile robots and forestry vehicles to operate safely and effectively in unstructured settings where traditional sensors and algorithms fail. Nakagomi’s major contributions include developing a LiDAR-SLAM and U-Net-based system for detecting forest road surfaces, allowing vehicles to autonomously follow passable paths despite changes in geometry, surface conditions, and lighting. He has also advanced 3D scan matching techniques for mobile robot localization over rough terrain, addressing the critical problem of odometry errors that accumulate when traveling on uneven ground. His methods improve the accuracy and speed of self-position estimation, which is essential for autonomous operations in forestry and other off-road applications. With each of his most-cited papers garnering 5 citations, Nakagomi’s research is foundational for the growing field of autonomous vehicles in natural environments. His work directly supports the forestry industry’s need for robots that can carry large logs and navigate unpaved roads, demonstrating a practical impact on labor-intensive, hazardous tasks.