2A2-B05 小型自律飛行機を用いた高精度三次元計測(飛行ロボット・メカトロニクス)

概要

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This paper presents 3D measurement method using a small UAV (Unmanned Aerial Vehicle) which is loaded with limited payload sensors and can fly at lower altitude than manned-aircrafts. The proposal is based on motion stereo technique using high accuracy 3D-camera motion estimation by means of combination of GPS/INS, image features and ground control points tracking. As a result of field experiments, it can be stated that the proposed 3D measurement method is robust to environmental perturbations and can realize accurately/high resolution distance estimation.
一般社団法人日本機械学会の論文
2007-05-11