Abstract
This paper describes phased earthquake data collection system by cooperation of mobile robots and the Temporal Spatial GIS. This proposed method features three phased data update and the change region modeling as KIWI+ building object data. The first stage sends the robot position and the omni-directional images as soon as possible. On the second stage, 3D environmental data with image texture which is obtained by omni-directional motion stereo augmented by the RTK-GPS/INS, is sent as the VRML format. Finally, “change region”, which is recognized by difference operation between the obtained 3D environmental data and the GIS database, can be recognized as new KIWI+ object data. Field experiments and analyses have proved that the proposed system can provide sufficient data collection/update performance under complicated outdoor environment.
