マルチスリットレーザプロジェクタを利用した距離画像センサを用いた微小運動の直接推定による三次元地図生成

抄録

In this paper, a three-dimensional (3D) mapping method is proposed using a range image sensor with a multi-slit laser projector. Motion parameters of measurement points are directly estimated using range images and optical flow of color images. A 3D map is constructed by registration of range images between frames using the relationship of the range images and estimated motion parameters. In experiments, a 3D map is generated by the constructed sensor using the proposed method. The computational time of estimating the motion parameters and the accuracy of the map are verified.