1P1-B09 屋外環境下で用いる自律移動システムに関する研究 : 第55報 Mobile Mapping Systemによる三次元点群と時系列画像を用いた道路面補完に関する研究

概要

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In recent years, a mobile mapping system (MMS) is expected to make 3D road environment measurement highly efficient and accurately. The MMS which is a vehicle consists of GPS/IMU combined navigation system, cameras and Laser scanners, can acquire the road environment 3D information efficiently. The MMS is used in as-built survey, urban modeling, and so on. The MMS can measure the road environment without any traffic regulation. However, other vehicle sometimes interferes with measurement of road facilities. Thus, the road facilities data is sometimes missed. The purpose of this paper is to create road environment model without missing area in one survey. Therefore, we propose other moving vehicles point cloud removal and point cloud imputation algorithm using 3D point cloud model and sequential images. Furthermore, in this paper, we describe the result of application of the proposed algorithm.
一般社団法人日本機械学会の論文