距離データに対するNDTを用いた高速な差分検出手法の提案

―屋内・屋外環境での差分検出精度の検証―

抄録

This research aims to develop a high-speed spatial change detection technique using point clouds and NDT (Normal Distributions Transform). Three techniques are introduced to make the proposed system robust for noise, that is, classification of point distribution, overlapping of voxels, and voting using consecutive sensing. This paper describes the results of performance verification of spatial change detection in indoor and outdoor environments.