A Mobile System for 3D Indoor Mapping Using LiDAR and Panoramic Camera

• Item type: SIG Technical Reports(1)
• 公開日: 2015-05-04
• タイトル: A Mobile System for 3D Indoor Mapping Using LiDAR and Panoramic Camera
• タイトル / 言語: en
• タイトル: A Mobile System for 3D Indoor Mapping Using LiDAR and Panoramic Camera
• 言語: eng
• キーワード / 主題Scheme: Other
• キーワード / 主題: 位置情報
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_18gh
• 資源タイプ: technical report
• 著者所属: Graduate School of Engineering, Nagoya University
• 著者所属: Graduate School of Engineering, Nagoya University
• 著者所属: Institute of Innovation for Future Society, Nagoya University
• 著者所属: Graduate School of Engineering, Nagoya University
• 著者所属: Institute of Innovation for Future Society, Nagoya University
• 著者所属(英): en
• 著者所属(英): Graduate School of Engineering, Nagoya University
• 著者所属(英): en
• 著者所属(英): Graduate School of Engineering, Nagoya University
• 著者所属(英): en
• 著者所属(英): Institute of Innovation for Future Society, Nagoya University
• 著者所属(英): en
• 著者所属(英): Graduate School of Engineering, Nagoya University
• 著者所属(英): en
• 著者所属(英): Institute of Innovation for Future Society, Nagoya University
• 著者名: Weimin, Wang; Kenji, Yamakawa; Kei, Hiroi; Katsuhiko, Kaji; Nobuo, Kawaguchi
• 著者名(英): Weimin, Wang; Kenji, Yamakawa; Kei, Hiroi; Katsuhiko, Kaji; Nobuo, Kawaguchi
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: Limited by the poor vertical resolution of multi-laser LiDAR sensors like Velodyne HDL-32E, the sparsity of 3D points increases drastically in vertical direction as the distance from Velodyne increases. Interpolating in the point cloud is a method that often used to solve this problem. In this paper, we propose a mobile system consist of a Velodyne LiDAR sensor and a panoramic camera(we utilize a Ladybug3 panoramic camera here) for indoor mapping. We call it Velobug(Velodyne and Ladybug) system for practical purpose. Velobug can be used to obtain denser points clouds by deflecting Velodyne and rotating it around plumb line. Also with the Ladybug3 panoramic camera under Velodyne, we can get a colored point cloud by corresponding each 3D point to a pixel on the panoramic image acquired from Ladybug3 after the calibration of Velobug. Generalized Iterative Closet Point(Generalized-ICP) is adopted in frame-to-frame registration of the point clouds for indoor mapping.
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: Limited by the poor vertical resolution of multi-laser LiDAR sensors like Velodyne HDL-32E, the sparsity of 3D points increases drastically in vertical direction as the distance from Velodyne increases. Interpolating in the point cloud is a method that often used to solve this problem. In this paper, we propose a mobile system consist of a Velodyne LiDAR sensor and a panoramic camera(we utilize a Ladybug3 panoramic camera here) for indoor mapping. We call it Velobug(Velodyne and Ladybug) system for practical purpose. Velobug can be used to obtain denser points clouds by deflecting Velodyne and rotating it around plumb line. Also with the Ladybug3 panoramic camera under Velodyne, we can get a colored point cloud by corresponding each 3D point to a pixel on the panoramic image acquired from Ladybug3 after the calibration of Velobug. Generalized Iterative Closet Point(Generalized-ICP) is adopted in frame-to-frame registration of the point clouds for indoor mapping.
• 書誌レコードID / 収録物識別子タイプ: NCID
• 書誌レコードID / 収録物識別子: AA11838947
• 書誌情報: 研究報告ユビキタスコンピューティングシステム（UBI）; 巻 2015-UBI-46, 号 1, p. 1-7, 発行日 2015-05-04
• ISSN / 収録物識別子タイプ: ISSN
• ISSN / 収録物識別子: 2188-8698
• Notice: SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc.
• 出版者 / 言語: ja
• 出版者: 情報処理学会