Abstract
In recent years, point cloud data measured by mobile mapping systems (MMSs) haves been used for the maintenance and management of roadside structures. However, using MMSs to perform frequent routine inspections is not cost-effective. To this end, we previously developed a sensing unit mounted on a car using inexpensive sensors. A self-positioning correction method using simultaneous localizatioiin and mapping with multiple lidar detection and ranging (LiDAR) sensors installed horizontally and diagonally was investigated, and its usefulness was confirmed. However, the diagonal installation of LiDAR has a problem in that the accuracy of point cloud data generation deteriorates when the measurement data between consecutive points have the same shape. Additionally, it is necessary to superimpose multiple LiDAR point cloud data with different measurement ranges for a comprehensive measurement. Therefore, here, we propose a method to generate point cloud data over a wide area by using the self-position of the horizontally installed LiDAR to correct the self-position of the diagonally installed LiDAR and superimpose the point cloud data of both installation methods. In the result, the method was verified in some experiments, we confirmed it was useful.
