抄録
Recently, the needs of observation UAVs (Unmanned Aerial Vehicle), such as unmanned helicopter, have increased instead of the manned aircraft. It is expected that the UAVs are useful for aerial image acquisition, volcano observation, observation of disaster sites and so on. Therefore, in our group, the three-dimensional measurement system using unmanned helicopter has been developed. The unmanned helicopter is equipped with three digital cameras and VVV (Versatile Volumetric Vision) which is the original stereo vision software. A stereo self-adjustment methodology is used for the stereo system to tolerate vibration of its cameras and to be robust against disturbances. Also, a gaze-observation methodology is used to get detailed three-dimensional data of an object. In this paper, the unmanned helicopter equipped with the stereo vision system, the stereo self-adjustment methodology, the gaze-observation methodology, its airborne capturing experiment and the results of the experiment are described.
