Abstract
The Ministry of Land, Infrastructure, Transport and Tourism locates three-dimensional geospatial information as the most important foundation of the nation and promotes development of technology for efficiently and rapidly preparing data. However, in indoors or underground spaces, the accurate location can't be determined with GNSS. In recent years, several mobile sensing units have been developed and used. In exsinting products and researches, SLAM which calculates the relative position and attitude change amount of the measurer from time series data of images and point cloud data and generates three-dimensional data of the space has been proposed. However, in SLAM, self-position can't be estimated under the shape features such as breaklines and the environment with little change in brightness value, and It's difficult to generate three-dimensional data. In this research, a mobile sensing unit was developed for measuring three-dimensional data in indoors. A method to improve the accuracy of generating point cloud data was proposed. It estimates the planar region from the three-dimensional data measured using the unit and generats a breakline at the intersection between the planes.
