書誌事項
- タイトル別名
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- Estimation of Three-dimensional Glass Coordinates with a LiDAR and a Polarization Camera for Indoor SLAM
- オクナイ SLAM ノ タメ ノ LiDAR ト ヘンコウ カメラ オ モチイタ ガラス ノ 3ジゲン ザヒョウ スイテイ
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<p>This research proposes a method to estimate three-dimensional coordinates of glass using a polarization camera and LiDAR. A laser beam passes through glass. Therefore, it is impossible to acquire 3D point clouds of glass when performing 3D measurement of structures with LiDAR. On the other hand, the light reflected from the glass surface has a higher degree of linear polarization. Therefore, the direction in which the glass exists can be measured by using a polarization camera. In the proposed method, a polarized camera is used to determine the glass. After the determination, point cloud interpolation is performed on the point cloud measured from LiDAR, considering the positions of the surrounding window frames. In the indoor experiment, we successfully complemented the position of the glass that could not be measured by LiDAR.</p>
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 60 (1), 27-34, 2024
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390298975427159296
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 033294923
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- 抄録ライセンスフラグ
- 使用不可