{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00234013","sets":["1164:3980:11478:11606"]},"path":["11606"],"owner":"44499","recid":"234013","title":["Visual Inertial SLAMを用いた屋内3次元モデリングにおける点群データ取得手法の提案"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-05-08"},"_buckets":{"deposit":"b00f9fb3-b49b-407c-9182-2e51483c7fa9"},"_deposit":{"id":"234013","pid":{"type":"depid","value":"234013","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"Visual Inertial SLAMを用いた屋内3次元モデリングにおける点群データ取得手法の提案","author_link":["636906","636905"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Visual Inertial SLAMを用いた屋内3次元モデリングにおける点群データ取得手法の提案"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"[DPS]位置推定と避難シミュレーション","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-05-08","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"岡山大学大学院環境生命自然科学研究科"},{"subitem_text_value":"岡山大学学術研究院環境生命自然科学学域"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Environmental, Life, Natural Science and Technology, Okayama University","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Environmental, Life, Natural Science and Technology, Institute of Academic and Research, Okayama University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/234013/files/IPSJ-ITS24097038.pdf","label":"IPSJ-ITS24097038.pdf"},"date":[{"dateType":"Available","dateValue":"2026-05-08"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ITS24097038.pdf","filesize":[{"value":"22.3 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"37"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"c679becf-9075-4280-8adf-8109be8e581c","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"津川, 卓徳"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"後藤, 佑介"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11515904","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8965","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年では，産業基盤施設や生活基盤施設が老朽化し，メンテナンスの必要性が高まっている．複雑な構造を持つ施設を計測する場合，遮蔽物による影響で死角となる空間が多くなる．このような空間を計測するため，周囲の形状を計測するセンサが自己位置推定を行いながら環境マップを構築する Simultaneous Localization and Mapping (SLAM) を用いて，屋内および屋外環境で詳細な点群データを取得する．3 次元の点群データは，2 次元に比べてデータサイズが膨大となり視認性が低下するため，点群データを面データに変換するモデリングを行う．屋内で 3 次元モデリングを行う場合，LiDAR SLAM による計測では，高い精度で点群データを取得する一方で，LiDAR センサが高価であるため，利用できるユーザは限定される．そこで，Visual SLAM を用いて計測することで，安価なカメラで3次元モデリングを行うことができる．しかし，検出する特徴点の数が少ない場合，およびカメラの旋回で映像データが大きく変化する場合において，環境マップのずれやトラッキングロスが発生する可能性がある．本研究では，安価で汎用性が高いセンサを用いて，Visual Inertial SLAM による屋内 3 次元モデリングにおける点群データの取得手法を提案する．提案手法では，カメラで撮影した画像から抽出したエッジに対して，特徴点抽出アルゴリズムを適用することで Visual Inertial SLAM で利用する特徴点を作成して，屋内環境で高品質な 3 次元モデリングを行う．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告高度交通システムとスマートコミュニティ（ITS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-05-08","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"38","bibliographicVolumeNumber":"2024-ITS-97"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":234013,"updated":"2025-01-19T09:54:24.793305+00:00","links":{},"created":"2025-01-19T01:35:43.480162+00:00"}