1P1-E03 測域センサと赤外線カメラを用いた三次元温度分布マッピングシステムの構築(3次元計測/センサフュージョン)

概要

論文の詳細を見る
In urban search arid rescue situations, a 3D mapping technology by rescue robots is very useful to plan rescue missions. Furthermore, it is important to obtain temperature information for discovering victims in disaster scenes. Therefore, we set our research object to construct a 3D thermography map by mobile robots. To realize the above, we fuse both temperature image acquired from infrared camera and range data acquired from 3D SOKUIKI sensor. In addition, to improve a quality of the 3D thermography map, we propose improved ICP(Iterative Closest Point) scan matching algorithm using the temperature information applied to 3D scan points. Through initial experiments, we validated an advantage of our algorithm over traditional ICP scan matching. In this paper, we explain construction method of 3D thermography map, scan matching method using temperature information, and report an initial experiments.
2011-05-26