Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
馬場 啓多*; 渡部 有隆*; 中村 啓太*; 松本 拓; 羽成 敏秀; 川端 邦明
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 2024) (Internet), p.751 - 756, 2024/01
This study proposes a partial-to-partial point cloud registration method based on estimated parameters in photogrammetry and QR code. Some research and development on Generating a 3D map of the workspace by photogrammetric methods have been proposed for the decommissioning work at the Fukushima Daiichi Nuclear Power Plant. Photogrammetry is a method for 3D reconstruction of the location and shape of target objects from many images, and the processing time depends on the number of images. Considering the reconstruction of a large area, the number of images increases, and processing time also increases significantly. To reduce such computational time, this study considers applying SfM-MVS (Structure from Motion and Multi-View Stereo), which is one of the photogrammetry methods, to each segmented image group, aligning each obtained result, integrating them, and creating a model of the entire space. This alignment is called partial-to-partial registration and it is difficult to find the correspondence points for registration. Therefore, we place markers such as QR codes in the target reconstruction space to make it easy to find the correspondence points. We adopt the QR code as a 2D code because it is easy to reconstruct by photogrammetry. In this paper, we discuss the validity of this approach by comparing it with the integrated model using all images applying SfM-MVS. We verify the validation of the proposed method by simulation due to the large number of images and the ease of modifying the environment. The experiment about varying the number of image divisions shows that the reconstruction result from all images is more accurate than the integrated result. However, all of these models have high reconstruction accuracy. Moreover, the accuracy of the integrated model does not depend on the number of divisions.
馬場 啓多*; 渡部 有隆*; 中村 啓太*; 松本 拓; 羽成 敏秀; 川端 邦明
no journal, ,
In this paper, we research whether the reconstruction model integrated based on the 2d code is as valid as the model reconstructed from the whole image group. We investigated the difference in accuracy between the whole reconstruction model and integrate the reconstruction model in simulation. At first, we generate images assuming four linear orbits. We reconstruct three models using different three image groups, four linear orbits, two linear orbits, and another two linear orbits. We integrate two models based on 2d code. We evaluate the accuracy of the reconstruction model. We align the reconstruction model and reference model and count the points of the reference model where the distance to the nearest point of the reconstruction model is less than or equal to the threshold. We compare the whole model and the integrated model in the percentage of that point. The result shows high accuracy demonstrated with 15mm error.
中村 啓太*; 馬場 啓多*; 渡部 有隆*; 松本 拓; 羽成 敏秀; 川端 邦明
no journal, ,
本研究では、QRコードを用いた写真測量による立体復元結果の部分間レジストレーションによる統合手法を提案する。写真測量で獲得した復元結果は、復元ごとにスケーリングが異なるため統合が困難である。この問題を解決するために、大きさが既知のQRコードを復元対象環境に配置し、QRコードの大きさに基づいて復元結果をスケーリングし、スケーリングした復元結果をQRコードのマーカに基づいて統合する。本提案手法を検証するため、全画像から復元した結果と複数の復元結果を統合した結果の精度を比較した。検証結果から、精度を維持しつつ写真測量による3Dマッピングに要する時間の短縮に有効であることが示された。