Flying laser range finder and its data registration algorithm

Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Kohichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi

研究成果: ジャーナルへの寄稿Conference article

2 引用 (Scopus)

抄録

Scanning from the air is one of the most efficient methods for obtaining 3D data of large-scale objects. For this purpose, we have been developing a Flying Laser Range Finder that is suspended under a balloon. Even though the scanning speed of the finder is quite rapid, it is difficult to eliminate the influence of the swing of a balloon. As a result the scanned data have some distortion due to the intra-scanning movement. In order to compensate this intra-scanning movement, we propose a evolutional registration algorithm which not only aligns multiple range images to determining inter-scanning movement parameters, but also rectifies distortion of range image by determining intra-scanning movement parameters. In this paper, we describe our aerial scanning system especially focussing on the design of the Flying Laser Range Finder and deformation registration algorithm. To show the effectiveness of our method, we evaluate its performance using synthesized and real data.

元の言語英語
ページ(範囲)3155-3160
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2004
発行部数3
出版物ステータス出版済み - 7 5 2004
イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, 米国
継続期間: 4 26 20045 1 2004

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Range finders
Scanning
Lasers
Balloons
Antennas
Air

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

Hirota, Y., Masuda, T., Kurazume, R., Ogawara, K., Hasegawa, K., & Ikeuchi, K. (2004). Flying laser range finder and its data registration algorithm. Proceedings - IEEE International Conference on Robotics and Automation, 2004(3), 3155-3160.

Flying laser range finder and its data registration algorithm. / Hirota, Yuichiro; Masuda, Tomohito; Kurazume, Ryo; Ogawara, Kohichi; Hasegawa, Kazuhide; Ikeuchi, Katsushi.

:: Proceedings - IEEE International Conference on Robotics and Automation, 巻 2004, 番号 3, 05.07.2004, p. 3155-3160.

研究成果: ジャーナルへの寄稿Conference article

Hirota, Y, Masuda, T, Kurazume, R, Ogawara, K, Hasegawa, K & Ikeuchi, K 2004, 'Flying laser range finder and its data registration algorithm', Proceedings - IEEE International Conference on Robotics and Automation, 巻. 2004, 番号 3, pp. 3155-3160.
Hirota, Yuichiro ; Masuda, Tomohito ; Kurazume, Ryo ; Ogawara, Kohichi ; Hasegawa, Kazuhide ; Ikeuchi, Katsushi. / Flying laser range finder and its data registration algorithm. :: Proceedings - IEEE International Conference on Robotics and Automation. 2004 ; 巻 2004, 番号 3. pp. 3155-3160.
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