Research on Estimation of Relative Position and Construction of Three-Dimensional Space Using Range Image Sensor

In recent years, efforts to construct three-dimensional (3D) spatial data have been drawing attention. Representative cases include researches using MMS or a laser range sensor. In these researches, however, their availability is limited in some areas such as the inside of buildings or underground shopping malls where GPS accuracy is low. Methods without using GPS include SLAM to construct 3D spatial data by estimating relative positions from a characteristic object in the real space and calculating the moving path. However SLAM, which uses learning data, has a problem in that the precision depends on learning data. Then, this research proposes a method for estimating the relative positions between a range image sensor and objects, which does not need GPS or learning data. This makes it possible to construct 3D space without depending on the shooting environment.