2012 Volume 64 Issue 2 Pages 155-160
Precise and accurate 3D model of a road structure is basic information which can be utilized for various purposes, such as safety measures, driving simulation, and reference data for autonomous driving. Generally, the 3D model of a tunnel where GPS signal is not available has been constructed based on positioning using gyro sensor, however, error accumulation becomes a considerable problem in the case of long tunnels. We propose a method to obtain geometrically optimal whole structure of a tunnel: (1) Acquire a set of partial structures by static scanning and align them by 3D matching using edge feature (2) Fix the absolute position of the data for both ends of the tunnel by GPS and align the rest data again. By applying this method, we succeeded to create the 3D model of Kanaya Tunnel in Shin-Tomei Expressway, whose length is 4.6km.
