スズキ　タロウ   鈴木　太郎    所属   千葉工業大学  先進工学部 未来ロボティクス学科    職種   教授
発行・発表の年月	2023/12
形態種別	学術雑誌
標題	High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements
執筆形態	共著
掲載誌名	Journal of Robotics and Mechatronics
掲載区分	国内
巻・号・頁	35(6),1655-1662頁
著者・共著者	Jin Akiyama,Yuan Zong,Naoki Shinada,Taro Suzuki,Yoshiharu Amano
概要	In this study, we propose a method for generating highly accurate high-density point clouds of piping facilities using an unmanned aerial vehicle (UAV) laser scanner and a handheld laser scanner. The point cloud for each scanline measured by the UAV scanner is repositioned on the piping axis, and the handheld scanner’s 3D point cloud is subsequently registered so that the center axis of the piping coincides with the UAV point cloud as a reference. The method proposed in this study was used to accurately reconstruct linear piping measured in high winds, which can easily deteriorate measurement accuracy. Whereas the conventional method incurred a deviation of 44.3 mm between the predicted and true values at altitudes of 15 m, the proposed method reduced this deviation to 19.4 mm. An application of the registration method demonstrated that the combined use of the two laser scanners enabled the creation of a high-density point cloud.
DOI	10.20965/jrm.2023.p1655
ISSN	0915-3942/1883-8049