模擬がれきフィールドの多視点点群計測によるがれき要素抽出に関する研究

抄録

When we develop rescue robots, it is important to measure how traveling of them effect rubble. In this paper, imitation rubble field is targeted. Rubble used in this field is only rectangular parallelepiped. We observe rubble by using point clouds gotten from various viewpoints. We execute Region growing and point cloud are divided into many clusters. Next, we derive equation of plane from each cluster. Equation of plane shows angle of others. In addition, we can know coordinate of centroid of plane from points composing cluster. Combinations of planes forming rectangular parallelepiped are chosen automatically by using information of angle and coordinate. We aim at detecting rubble elements from point clouds and obtain their positions.