CPS-SLAMによる大規模環境のレーザ観測の自動計画手法

大島 漱一郎, 永倉 翔吾, 鄭 龍振, 岩下 友美, 倉爪 亮

研究成果: ジャーナルへの寄稿学術誌査読

抄録

In recent years, several low-price 3D laser scanners are being brought to the market and 3D laser scanning has been widely used in many applications. For example, 3D modeling of architectural structures and digital preservation of cultural heritages are typical applications for 3D laser scanning. Despite of the development of light-weight and high-speed laser scanners, complicated measurement procedure and large measurement time are still heavy burden for the widespread use of laser scanning. We have proposed a robotic 3D scanning system using multiple robots named CPS-SLAM, which consists of parent robots with a 3D laser scanner and child robots with corner cubes. This system enables to perform 3D laser scanning without complicated post-processing procedures such as ICP, and large-scale 3D models can be acquired by an on-board 3D laser scanner from several positions determined precisely by the localization technique named Cooperative Positioning System, CPS. This paper proposes an automatic planning technique for an efficient laser measurement for the CPS-SLAM system. By planning a proper scanning strategy depending on a target structure, it is possible to perform laser scanning efficiently and accurately even for a large-scale environment. Proposed technique plans an optimal scanning strategy automatically by taking several criteria, such as visibility between robots, error accumulation, and efficient traveling, into consideration. We conducted computer simulation and outdoor experiments to verify the performance of the proposed technique.
寄稿の翻訳タイトルAutomatic Planning of Laser Measurements for a Large-scale Environment using CPS-SLAM System
本文言語日本語
ページ(範囲)263-274
ページ数12
ジャーナル日本ロボット学会誌
33
4
DOI
出版ステータス出版済み - 2015

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