Estimation of Three-dimensional Glass Coordinates with a LiDAR and a Polarization Camera for Indoor SLAM

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  • OGIHARA Yusuke
    Graduate School of Frontier Sciences, The University of Tokyo
  • HIGUCHI Hiroshi
    Graduate School of Engineering, The University of Tokyo
  • IGAUE Takuya
    Graduate School of Engineering, The University of Tokyo
  • ASAMA Hajime
    Graduate School of Engineering, The University of Tokyo
  • AN Qi
    Graduate School of Frontier Sciences, The University of Tokyo
  • YAMASHITA Atsushi
    Graduate School of Frontier Sciences, The University of Tokyo

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  • 屋内SLAMのためのLiDARと偏光カメラを用いたガラスの3次元座標推定
  • 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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Abstract

<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>

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