小型UAV搭載レーザスキャナによる災害環境の高精度三次元計測

―レーザスキャナの取り付け角度キャリブレーションと三次元地図の精度評価―

抄録

This paper describes an extrinsic parameter calibration of light detection and ranging (LiDAR) for a 3D measurement system using an unmanned aerial vehicle (UAV). Recently, the use of small UAVs becomes widespread in 3D measurements because small UAVs are highly useful. We target 10 cm accuracy of 3D measurement aiming for use in disaster environments. 3D measurements using small UAV need estimating not only accurate position and attitude of UAV but also accurate extrinsic parameters of the LiDAR. We propose a calibration method of extrinsic parameters of the LiDAR using reflectors. The proposed method estimates the angle of the LiDAR that minimizes the RMS error of the distance between the reference points of the reflectors and the measured 3D points. As the result of the calibration, vertical RMS error of 3D measurements was 0.0408 m and horizontal RMS error was 0.0472 m.