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%఺܈ͷऔѻ͍ "1PJOU4FU(FOFSBUJPO/FUXPSLGPS %0CKFDU3FDPOTUSVDUJPOGSPNB4JOHMF*NBHF େ֞ܚհ 

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"1PJOU4FU(FOFSBUJPO/FUXPSLGPS %0CKFDU3FDPOTUSVDUJPOGSPNB4JOHMF*NBHF  ·ͱΊ: ୯؟Point Cloudਪఆ ໰୊ઃఆ Ұຕը૾͔Βɺ1PJOU$MPVEΛਪఆ͢ Δ ͓΋͠Ζ͍ͱ͜Ζ ෼෍ؒͷڑ཭Λ࠷খԽ͢Δ͜ͱͰ௚઀ ϙΠϯτΫϥ΢υΛग़ྗ͢Δωοτϫʔ ΫΛֶशͰ͖Δ ݁ہૄͳग़ྗͰ͋ͬͯ΋ɼͳΜͱ͔ີ ͳख๏ %FDPOW Λ͏·͘ར༻͢Δߏ ଄ʹམͱ͠ࠐΉͷؙ͕͍ ײ૝ %Ͱ΋%Ͱ΋ɼૄͳσʔλߏ଄ͷֶ श͸ɼ໌Β͔ʹ$//ʹಥͬࠐΊ͹͍ ͍ΑͶܥͷख๏ΑΓ͸·ͩ·ͩߟ͑Δ ͜ͱ͕ͨ͘͞Μ͋ͬͯ໘ന͍ )BPRJBOH'BO )BP4V -FPOJEBT(VJCBT ࿦จ'JHΑΓ

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࣮ࡍʹࢼͯ͠Έ·ͨ͠  IUUQTHJUIVCDPNGBOIRNF1PJOU4FU(FOFSBUJPO

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Ͳ͏͍͏ΞϓϦέʔγϣϯ  ͍͍ײ͡ͷࣸਅΛࡱΔ ର৅෺ΛϚεΫ͢Δ ͍͍ײ͡ʹΫϩοϓ͢Δ 1PJOU$MPVE͕ग़ͯདྷΔ ͜͜·Ͱ໿෼ ؤுΔ ؤுΔ πʔϧ͕ఏڙ͞ΕͯΔ ࣗಈ

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ࡉ͔ͳ੍໿  ϚεΫ࡞੒͕ΊΜͲ͍ɻɻɻ ׂͱ͔ͬ͠Γ࣮ݧ৚݅Λἧ͑ͳ͖Ό͍͚ͳ͍Β͍͠ ͱ͸͍͑ɺઌͷ݁Ռ͸ɺͳΜͱͳ͘ద౰ʹऔͬͨ ࣸਅͰͪΌΜͱҰൃͰ΍ͬͨྫͰ͢ɻ Χϝϥ͔Β؍ͯ͜ͷ൒ٿʹϐολϦର৅͕ೖͬͯ Δඞཁ͕͋Δɻ

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࣮૷ৄࡉ

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୭ʹ޲͚ͯͷൃද  ˕%Ϟσϧͷਂ૚ֶशΛ͍ͨ͠ਓ ̋ϥελը૾Ҏ֎ͷը૾ॲཧΛ͍ͨ͠ਓ ˚ఆ൪λεΫͷਫ਼౓Λ͍͋͛ͨਓ

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ը૾ੜ੒໰୊ͷ෼ྨ ݸਓͷݟղͰ͢  ࣍ݩ ࣍ݩ ີ ૄ <>IUUQTSFTFBSDIHPPHMFCMPHDPNUFBDIJOHNBDIJOFTUPESBXIUNM <>6/461&37*4&%3&13&4&/5"5*0/-&"3/*/(8*5)%&&1$0/70-65*0/"-(&/&3"5*7&"%7&34"3*"-/&5803,4 <>%FFQFS%FQUI1SFEJDUJPOXJUI'VMMZ$POWPMVUJPOBM3FTJEVBM/FUXPSLT <>%3/%3FDVSSFOU3FDPOTUSVDUJPO/FVSBM/FUXPSL <>(3"44(FOFSBUJWF3FDVSTJWF"VUPFODPEFSTGPS4IBQF4USVDUVSFT %FDPOWPMVUJPOܥ %$("/౳ <> 4LFUDI3//<> %FQUIਪఆ<> %%FDPOW<> 1PJOU$MPVE ϝογϡͷ௚઀ੜ੒<> ݚڀͷϑϩϯςΟΞ

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ը૾ੜ੒໰୊ͷ෼ྨ ݸਓͷݟղͰ͢  ࣍ݩ ࣍ݩ ີ ૄ <>IUUQTSFTFBSDIHPPHMFCMPHDPNUFBDIJOHNBDIJOFTUPESBXIUNM <>6/461&37*4&%3&13&4&/5"5*0/-&"3/*/(8*5)%&&1$0/70-65*0/"-(&/&3"5*7&"%7&34"3*"-/&5803,4 <>%FFQFS%FQUI1SFEJDUJPOXJUI'VMMZ$POWPMVUJPOBM3FTJEVBM/FUXPSLT <>%3/%3FDVSSFOU3FDPOTUSVDUJPO/FVSBM/FUXPSL <>(3"44(FOFSBUJWF3FDVSTJWF"VUPFODPEFSTGPS4IBQF4USVDUVSFT %FDPOWPMVUJPOܥ %$("/౳ <> 4LFUDI3//<> %FQUIਪఆ<> %%FDPOW<> 1PJOU$MPVE ϝογϡͷ௚઀ੜ੒<> ݚڀͷϑϩϯςΟΞ 1SPT w $POW͕ڧ͍ɽΰχϣΰχϣ ͠ͳͯ͘΋σΟʔϓϥʔχ ϯά͕ͳΜͱ͔ͯ͘͠ΕΔ ཁ ग़య  $POT w ղ૾౓͕ωοτϫʔΫͷαΠ ζʹґଘ͢Δ͜ͱ͕ଟ͍ 1SPT w ύϥϝλԽ͞Εͨදݱͷ৔߹ɺ ࣗ༝ʹߴղ૾౓ʹͰ͖Δ ϥ ελը૾ϕΫλը૾  w ղऍՄೳͳ ύϥϝλ͕ग़ྗ ʹͳΔͷͰɺਓ͕ؒޙॲཧͰ ͖Δ $POT w $POWͷΑ͏ʹίϞσΟςΟ Խͯ͠ͳ͍ͷͰɺωοτϫʔ Ϋ΍ϩεΛࣗ෼Ͱߟ͑ͳ͖Ό ͍͚ͳ͍

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࣮૷ʹؔ͢Δͭͷ࿦఺  ϩε͸Ͳ͏͢Δ w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ ͢Δ  ωοτϫʔΫͷܗঢ়͸ w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ  ֶशσʔλ͸ w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ ໘ന͍ٞ୊͸ҎԼͷ఺

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ϩε͸  ϙΠϯτ͸ɺ఺͝ͱͷϖΞϫΠζσʔλ͸࡞Εͳ͍ͷͰɺϙΠϯτΫϥ΢υ ఺܈ ಉ࢜ͷڑ཭Λ࢖͏͜ͱ ݁ہ࠷΋͍ۙ఺ΛϖΞʹ͍ͯ͠ΔɻͨͩɺYUͱUYͷ྆ํͷରԠ෇Λऔ͍ͬͯΔ఺͕ ୯ͳΔϖΞϫΠζͱ͸ҧ͏ɽ w ࠷ۙ๣ͷڑ཭ΛऔΔUGOOEJTUBODFϞδϡʔϧΛஶऀΒ͕ެ։ͯ͠Δ 4Λ4ʹมԽͤ͞ΔͨΊͷίετɺΛ࠷খԽɽ8BTTFSTUFJOڑ཭ͱ΋ɽ ͿͬͪΌ͚ͲͬͪͰ΋͏·͘ߦͬͯΔɻ$IBNGFSͷํ͕ПΛٻΊΔඞཁ͕ͳ͘ܭࢉ͕͍ܰ

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࣮૷ʹؔ͢Δͭͷ࿦఺  ϩε͸Ͳ͏͢Δ w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ ͢Δ  w ෼෍ؒͷڑ཭ $%΍&.% Λ࢖͏͜ͱͰ௚઀࠷খԽͰ͖Δ ωοτϫʔΫͷܗঢ়͸ w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ  ֶशσʔλ͸ w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ ໘ന͍ٞ୊͸ҎԼͷ఺

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 ωοτϫʔΫߏ଄͸ ࠷ߴਫ਼౓ͷϞσϧ·Ͱஈ֊ͷෳࡶ͕͋͞ΔɽͦΕͧΕ͕εʔύʔηοτʹͳͬͯΔ

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 ωοτϫʔΫߏ଄͸ -W &ODPEFS%FDPEFSϞσϧ ग़ྗ͸఺Y% ೖྗը૾Ҏ֎ʹϥϯμϜϕΫτϧΛ͍ΕΔ w ໰୊͕JMMQPTFEͰ͋Γɼͦͷࣗ༝౓ΛϞσϧԽ͢Δඞཁ ͕͋Δ w 7BSJBUJPOBM"VUP&ODPEFSͷ࿮૊ΈͰτϨʔχϯά͢Δ

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 ωοτϫʔΫߏ଄͸ -W %FDPOWΛ௨͞ͳ͍'$ଆ΋࢒ͯ͋͠ΔɽͦΕ ͧΕಠཱʹग़ྗͨ͠఺܈Λ݁߹ w '$͕୺Λॲཧͯ͠$POWଆ͕ຊମΛੜ੒ ͍ͯ͠Δͱͷใࠂ ͋Εɼɼ%FDPOW  w 8JEUIY)FJHIUY Y Z [ ͱ͍͏νϟϯ ωϧը૾ͱΈͳ͢ w ཭ࢄ஋Ͱ͸ͳ͍΋ͷͷɼϙΠϯτΫϥ΢ υ΋ͦΕͳΓʹີ͔ͩΒ͜͏͍͏ߏ଄Ͱ ߦ͚ΔΒ͍͠ w ͤ΍Ζ͔

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 ωοτϫʔΫߏ଄͸ -W &ODPEFSͱ%FDPEFS͸தؒ૚Ͱ΋ͭͳ͕ͬͯΔ 6/&5෩  $POW &ODPEFS %FDPOW %FDPEFS ͷ͋ͱʹɺ͞Βʹ$POW%FDPOWΛ܁Γ ฦ͢ࣄʹΑͬͯ(MPCBMͱ-PDBMͳಛ௃ΛޮՌతʹ·ͱΊΒΕΔͱ͍ͯ͠Δ w ि໨ΛεΩοϓ͢Δͷ΋ೖΕͯΔɻɻɻ΋͏Կ͕ͳΜ΍Β w 4UBDLFE)PVSHMBTTOFUXPSLͱݴ͏Β͍͠ɻQPTFਪఆͷطଘݚڀ͕͋Δ w ͪͳΈʹ͜ͷ࠷ऴόʔδϣϯ͸$713൛ʹ͸ೖͬͯͳͯ͘BS9JWͰͷ௥Ճ ໎࿏ɻɻɻ

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࣮૷ʹؔ͢Δͭͷ࿦఺  ϩε͸Ͳ͏͢Δ w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ ͢Δ  w ෼෍ؒͷڑ཭ $%΍&.% Λ࢖͏͜ͱͰ௚઀࠷খԽͰ͖Δ ωοτϫʔΫͷܗঢ়͸ w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ  w ݁ہ%FDPOWʹམͱ͢͜ͱ͕Ͱ͖Δɽ'$΋ϒϥϯνͱͯ݁͠߹͢Δ ֶशσʔλ͸ w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ ໘ന͍ٞ୊͸ҎԼͷ఺

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ֶशσʔλ͸Ͳ͏͢Δʁ  %ϞσϧͷσʔληοτͷΈΛ࢖͏ɻೖྗը૾͸%ϞσϧΛϨϯμϦϯάͨ͠΋ͷ 5SBJOJOH%BUB(FOFSBUJPOCZ4ZOUIFTJT  w ͦΕͰ΋ͪΌΜͱ࣮σʔλͰ΋ಈ͘ w 4IBQF/FUσʔληοτΛར༻ w ,Ϟσϧ w %%ܥͷ෼໺Ͱ͸΋͏͜ΕͰߦ͚Δ͜ͱ͕Α͘Θ͔ͬͯΔ w %FQUI΍ϘΫηϧਪఆͰطʹ࢖ΘΕͯΔ w ΞϓϦέʔγϣϯͷͱ͜ΖͰड़΂ͨΑ͏ʹɺࠓճ͸ӈਤͷΑ͏ͳΧϝϥͱ෺ମͷҐஔؔ܎Ͱ͔ͳ Γ౷੍͞Εͨσʔληοτʹ͍ͯ͠Δ w ඞཁʹԠͯ͡র໌৚݅΍ΧϝϥΛ΋ͬͱ͙ͪΌ͙ͪΌʹͰ͖Δ

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࣮૷ʹؔ͢Δͭͷ࿦఺  ϩε͸Ͳ͏͢Δ w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ ͢Δ  w ෼෍ؒͷڑ཭ $%΍&.% Λ࢖͏͜ͱͰ௚઀࠷খԽͰ͖Δ ωοτϫʔΫͷܗঢ়͸ w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ  w ݁ہ%FDPOWʹམͱ͢͜ͱ͕Ͱ͖Δɽ'$΋ϒϥϯνͱͯ݁͠߹͢Δ ֶशσʔλ͸ w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ  w %Ϟσϧ͔Β%ը૾Λੜ੒͢Δ͜ͱͰͨ͘͞Μ࡞ΕΔ ໘ന͍ٞ୊͸ҎԼͷ఺

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࣮ݧ

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ઌߦݚڀͱͷൺֱ࣮ݧ  ͜ͷ໰୊ࣗମͷઌߦݚڀ͸ͳ͍ ͷͰɺߋʹผͷυϝΠϯʹ໭ͯ͠ൺ ֱ͢Δ w ϙΠϯτΫϥ΢υ͔ΒϘΫηϧ ʹม׵্ͨ͠ͰɺϘΫηϧੜ੒ ख๏ͱಆ͏ʂ w ϙΠϯτΫϥ΢υΛ཭ࢄԽͯ͠ ϘΫηϧͱΈͳ্ͨ͠Ͱɺߋʹ ૚ͷ%$POWΛ࢖ͬͯ࠷ऴతͳ ϘΫηϧදݱΛ࡞Δ w ͱ͍͏͜ͱ͕TVQQMFNFOUBMʹ͠ ͔ॻ͍ͯͳ͍ ࢹ఺ೖྗͰ͸ڧ͍ɽͨͩ͠ઌߦ ݚڀ%3/͸ෳ਺ࢹ఺ೖྗ͠ ͯਫ਼౓্͛ΒΕΔڧΈ΋͋Δ

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ͱ͜ΖͰ

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1PJOU/FU%FFQ-FBSOJOHPO1PJOU4FUTGPS%$MBTTJpDBUJPOBOE 4FHNFOUBUJPO  ࠓճ঺հͨ͠ϙΠϯτΫϥ΢υͷੜ੒ ͱಉ࣌ʹɺϙΠϯτΫϥ΢υͷೝࣝ΋ $713Ͱൃද͞Εͨ ಉ༷ʹɺ$POW͕࢖͑ͳ͍͜ͱ͕໰୊ ͱͳΔ͕ɼ֤఺ΛͦΕͧΕे෼ʹඇઢ ܗม׵ͨ͠ޙʹNBYQPPMJOH͢Δ͜ͱ Ͱશମͷಛ௃Λଊ͑ΒΕΔͱ͍͏໘ന ͍ใࠂɽ ৄࡉʹ͍ͭͯ͸ɼ!QFJTVLF͞Μͷε ϥΠυ͕ެ։͞ΕͯΔͷͰࢀর͞ΕΔ ͱ͍͍ͱࢥ͍·͢ɽ w IUUQTXXXTMJEFTIBSFOFU 'VKJNPUP,FJTVLFQPJOUOFU 3D఺܈(Point cloud)Λͦͷ··Nx3ͷ࠲ඪྻͱͯ͠ѻ͏ೝࣝ ࿦จ'JHΑΓ

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1PJOU/FU%FFQ-FBSOJOHPO1PJOU4FUTGPS%$MBTTJpDBUJPOBOE 4FHNFOUBUJPO  ໰୊ઃఆ ఺܈Λͦͷ··ೖྗͱͨ͠ಛ௃நग़ #PYFMͱҧͬͯ੔વͱฒΜͰͳ͍ͷͰɺ %$//͕࢖͑ͳ͍ ΩʔΞΠσΞ ֤఺Λಠཱʹඇઢܗม׵ͨ͠ޙʹNBY QPPMJOHͱΔ͚ͩͰ݁ߏੑೳ͕ग़Δ w ηάϝϯςʔγϣϯͷͱ͖Ͱ΋ɺQPPMJOH ͨ݁͠ՌΛݩͷO఺ͷಛ௃ʹDPODBU͢ Δ͚ͩͰ0, ٙ໰఺ɾײ૝ άϥϑίϯϘϦϡʔγϣϯ͸Ͳ͏ͳΜͰ͢ ͔ͶɻXLUL ਫ਼౓͚ͩͩͱϚϧνϏϡʔ$//͕Ұ൪͍ ͍ͷ͔͊ɻͰ΋͔֬ʹϚϧνϏϡʔ͕μα ͍ͷ͸Θ͔Δ 3D఺܈(Point cloud)Λͦͷ··Nx3ͷ࠲ඪྻͱͯ͠ѻ͏ೝࣝ ࿦จ'JHΑΓ

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1PJOU/FU%FFQ-FBSOJOHPO1PJOU4FUTGPS%$MBTTJpDBUJPOBOE 4FHNFOUBUJPO  .7$// ଟࢹ఺͔Βͷը૾$//ͷ౷߹ ͕Ұ൪ೝࣝਫ਼౓͸ߴ͍Μ͚ͩ Ͳɺύϥϝλ਺΋ଟͯ͘ܭࢉ࣌ؒ΋͔͔Δɻ1PJOU/FU͸ਫ਼౓΋े෼Ͱ ߴ଎ɻ

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͓ΘΓ

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·ͱΊ  ͓΋͠Ζ͍ͱ͜Ζ w ෼෍ؒͷڑ཭Λ࠷খԽ͢Δ͜ͱͰ௚઀ϙΠϯτΫϥ΢υΛग़ྗ ͢ΔωοτϫʔΫΛֶशͰ͖Δ w ݁ہૄͳग़ྗͰ͋ͬͯ΋ɼͳΜͱ͔ີͳख๏ %FDPOW Λ͏·͘ ར༻͢Δߏ଄ʹམͱ͠ࠐΉͷؙ͕͍ %Ͱ΋%Ͱ΋ɼૄͳσʔλߏ଄ͷֶश͸ɼ໌Β͔ʹ$//ʹ ಥͬࠐΊ͹͍͍ΑͶܥͷख๏ΑΓ͸·ͩ·ͩߟ͑Δ͜ͱ͕ͨ͘ ͞Μ͋ͬͯ໘ന͍