UAV搭載LiDARとカメラによる色情報付き三次元点群生成

抄録

This paper describes a method of generating 3D colored point clouds using a light detection and ranging (LiDAR) and a camera on a small unmanned aerial vehicle (UAV). Recently, the 3D measurement using small UAVs have attracted attention because of its highly usefulness. In the previous research, 3D point clouds can be generated using multiple global navigation satellite system (GNSS) antennas/receivers and LiDAR. To increase the amount of information of the 3D point clouds, we propose a method to add color information to 3D point clouds using a camera. Precise camera mounting angle must be estimated to add color information into 3D point clouds. We propose a method to estimate maximum likelihood of camera mounting angle using white circle markers. As the result of the evaluation, the accuracy of colored 3D point clouds is 0.41 m after camera mounting angle estimation.