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Yamashita, Meguru*; Takahashi, Hiroki*; Kato, Toru*; Doi, Akio*; Imabuchi, Takashi  

In decommissioning work, workers need to know and share the parts located in the building in order to work quickly and smoothly, but this is difficult because their arrangement and types change from moment to moment as the work progresses. In this study, the current positions of the building components are estimated by aligning the difference point clouds extracted from the building point cloud data measured at two different times and the CAD data of the building components created in advance using RANSAC and ICP.