抄録
The 3D reconstruction of the terrain by airbone LRF (Laser Range Finder) requires the 3D motion of sensor, however the payload of small airbone platforms, such as radio control models, are highly restricted, and precise inertial motion units are too heavy to be mounted on it. The HDL32E, an LRF recently provided by Velodyne, is light enough to be installed to the airbone vehicle such as a blimp, and has 32 rays for scanning so that it can sense wide range of terrain at one scan cycle which means low dense 3D pointcloud are collected at very short time. This paper proposes the fast and simple method for integrating those low dense pointclouds to high dense pointcloud without any intertial motion sensor. The method uses equal or more than 3 planes not parallel on the terrain, and estimates LRF's 3D motion. The final integration result will be shown after the optimization of laser scanner's motion.
