PCL (Point Cloud Library)の基本となぜ点群処理か_2023年_第2版.pdf

1$- 1PJOU$MPVE-JCSBSZ ͷ جຊͱʮͳͥ఺܈ॲཧ͔ʁʯ ɹˏίϯϐϡʔλϏδϣϯษڧձؔ౦ ୈ൛ ౰࣌ͷॴଐ ܚጯٛक़େֶେֶӃཧ޻ֶݚڀՊɹത࢜՝ఔ <݄վఆୈ൛>
චऀɿྛণر $7.-ΤΩεύʔτΨΠυ؅ཧਓ

͜ͷ<ୈ൛>ʹ͍ͭͯ w ͜ͷࢿྉ͸ʮ೥ͷ$7ษڧձؔ౦ʯͰͷൃදࢿྉΛʮ೥݄ʯ ʹߋ৽ͯ͠࠶౓ެ։ͨ͠΋ͷͰ͋Δɽ w ೥΄ͲܦͬͨݱࡏͰ΋ʮ%఺܈ॲཧ΁ͷ1$-Λհͨ͠ಋೖʯͱͯ͠༗ ༻ͩͱ൑அ͠ɼ࠶ެ։͢Δ͜ͱʹͨ͠ɽ w ಺༰͸ͳΔ΂ͦ͘ͷ··ʹ͠ɼಡΈ΍͘͢ͳΔΑ͏จମͱσβΠϯͳͲͩ ͚গ͠੔͑ͨɽʮ೥݄ݱࡏͷঢ়گɾఆ൪ʯͱͷဃ཭͕͋·Γʹܹ
͍͠಺༰ʹ͍ͭͯ͸ɼ੺৭Ͱ஫ऍͷ௥ՃΛߦͬͨɽ w ೥ͷʮਂ૚ֶशϒʔϜҎલͷݹ͍಺༰ʯͰ͋Δ͜ͱʹ஫ҙ͞Εͨ ͍ɽʢٯʹݴ͏ͱɼए͍ํ͕աڈΛ஌Δʹ͸ϞοςίΠͷ಺༰ ɽ w ࠓͰ΋ຊ࣭తͳॴ͸มΘ͍ͬͯͳ͍ɽΑͬͯɼϩϘοτϏδϣϯΛςʔϚ ͱ͞ΕΔڭһͷํͳͲ΋ɼ͜ͷࢿྉΛࠓޙ΋༗ޮతʹ׆༻͍͚ͯͨͩ͠Δ ͱ޾͍Ͱ͋Δɽ

ಋೖ

w ઌഐʮ৽ೖੜͷΈΜͳɺೖθϛͰ͸1$-Λ࢖ ༻ͨ͠%ͷ՝୊΋औ૊ΜͰ΋Β͍·͢Αʔʯ ͋ΔϏδϣϯܥͷݚڀࣨʹ͸ɼय़ʹ৽ೖੜ͕དྷ·ͨ͠ w ৽ೖੜʮ%ͱ͔೉ͦ͠͏͔ͩΒɺतۀͰطʹ ΍ͬͨ0QFO$7Ͱ΍Γ·ͤΜ͔ʯ ίϯϐϡʔλϏδϣϯͰ͸ %఺܈ॲཧͷํ͕೉ͦ͠͏ͩͳ͋ ͱͷΠϝʔδ͕͋ΔΑ͏Ͱ͢
Ͳ͏΋ɺݚڀࣨͷ৽ೖੜͷํͨͪʹ͸ɿ

ຊ೔ͷ಺༰ w 1$-ͷجຊͷ঺հ w ʮ৽ೖੜͷօɺ1$-ͷ՝୊΋΍ͬͯ΋Β͍·͢ʯΛղܾɽ w 1$-ͱ఺܈ॲཧͷ🔰޲͚νϡʔτϦΞϧΛఏڙɽ w ͳͥ఺܈ॲཧ͔ʁ w
ʮ%ͱ͔೉ͦ͠͏͔ͩΒɺը૾Ͱ΍Γ·͠ΐ͏ΑઌഐʯΛղܾ w %఺܈ॲཧͷํ͕༗རͰָͳ͜ͱΛ঺հɽ ˞ຊ౰͸ʮʯͷॱͰઆ໌͕ͨ͠ɼઌʹ1$-঺հͨ͠΄͏͕۩ମతʹΠϝʔδ ͠΍͘͢ͳΔͷͰɼ͜ͷॱͰઆ໌ɽ

఺܈ ϙΠϯτΫϥ΢υ ର৅ͷ֤఺Qͷ̏࣍ݩ࠲ඪ஋ Y Z [ ͱɼ৭ 3(# 3(#" ͕֨ೲ͞Εͨσʔλ
ը૾σʔλͱͷڞ௨఺ɿ ɹڑ཭ը૾ͱͯ͠ࡱӨͰ͖Δ৔߹͸ɺ3(#ը૾ͱղ૾౓Λ౷ҰͰ͖Δ ྫɿ,JOFDUɺ4PGU,JOFUJD ը૾σʔλͱͷ૬ҧ఺ɿ w ࿈ଓͯ͠ର৅ද໘͕ಘΒΕΔͱ͸ݶΒͳ͍ w ͕݀͋ͬͨΓɺϊΠδʔͩͬͨΓ͢Δ ݀ຒΊ΍ฏ׈Խ͕ඞཁ w εϖοΫϧϊΠζ ಛʹ5P' ͕͋Δ 1$-ͷجຊͷ঺հ

,JOFDUొ৔Ҏલ d w ਫ਼޼ͳ%σʔλ͕ಘΒΕΔΘ͚Ͱ͸ͳ͘ɼ΍΍ϊΠδʔͳσ ϓε͔ΒՄೳͳॲཧ͔࣮͠ݱͰ͖ͳ͍ɽ w ं΍ϩϘοτ͔Βݟͯ΍΍ԕํͷ৔ॴΛೝࣝର৅ͱ͍ͯ͠Δɽ w .74ͱύονϕʔε̏࣍ݩ෮ݩɿ(PPHMF&BSUIͳͲ w
ର৅γʔϯͷपғΛ৭Μͳ֯౓͔ΒࡱӨ͢Δඞཁ͋Γ w %࠶ߏ੒ͷܭࢉ͕࣌ؒ௕͘ɼ࣮࣌ؒΞϓϦʹ͸࢖༻ Ͱ͖ͳ͍ wεςϨΦΧϝϥंࡌը૾ೝࣝwϚγϯϏδϣϯͰ࢖༻ 1$-ͷجຊͷ঺հ

,JOFDUొ৔Ҏޙ d w ୭Ͱ΋%఺܈ GQT ͕࢖͑ΔΑ͏ʹͳ͕ͬͨɿ w %఺܈ϝογϡॲཧͷϊ΢ϋ΢Λ͍࣋ͬͯΔਓ͕গͳ͍ɻ w ,JOFDU4%,0QFO/*͸఺܈ͦͷ΋ͷʹର͢Δ֤छॲཧ͸ର৅֎
ʢਓ෺࢟੎ਪఆͳͲɼ/BUVSBM6TFS*OUFSGBDFͷఏڙ͕ओ໨తʣ w 0QFO$7ͷΑ͏ͳϥΠϒϥϦ͕ɼ%఺܈޲͚ʹ͸ଘࡏ͍ͯ͠ͳ͍ w ഁ֨తʹ௿Ձ֨ͳ,JOFDUͷొ৔ʹΑΓɺ୭Ͱ΋ ʮ%఺܈ʯ͕ʮಈը GQT ʯͰऔಘՄೳʹɻ ʮ࣍ݩ఺܈ॲཧʯͷχʔζʹԠ͑ΔͨΊʹ 1PJOU$MPVE-JCSBSZ͕ొ৔ ೥ 1$-ͷجຊͷ঺հ

%ը૾ηϯγϯάͷຽओԽ ιϑτϋʔυ྆໘Ͱ։࢝ w ϋʔυ΢ΣΞ ηϯαʔ ͷຽओԽ w ίϯγϡʔϚσϓεηϯαʔ ,JOFDU 4PGULJOFUJD
͕σε Ϋτοϓ1$޲͚ʹొ৔ɻ w ϞόΠϧ޲͚ͷJ1BEͷ 4USVDUVSF4FOTUPS΍ "OESPJEͷ(PPHMF5BOHP ͳͲ΋ొ৔࢝͠Ί͍ͯΔ w ιϑτ΢ΣΞͷຽओԽɿ w 1PJOU$MPVE-JCSBSZͷొ৔Ͱ% ίϯϐϡʔλϏδϣϯ఺܈ॲཧͷ ιϑτ΢ΣΞ࡞੒ͷෑډ͕ҰؾʹԼ ͕Δɻ w 0QFOGSBNFXPSLTͳͲ΁ͷ 0QFO/*ͷ౷߹΍0DVMVTͳͲͷొ৔ ʹΑΓɺՄࢹԽɺΠϯλϥΫγϣ ϯɺ73ͳͲͰͷ%ίϯϐϡʔλϏ δϣϯͷ࢖༻΋༰қԽɾ׆ൃԽ 1$-ͷجຊͷ঺հ

҆Ձͳ,JOFDUొ৔ ˠ%఺܈Ϗδϣϯ͕खܰʹࢼͤΔΑ͏ʹ w Ҏલ͸ը૾ೖྗͩͬͨʮϚγ ϯϏδϣϯ෼໺ʯ΋ɼ%఺܈ ೖྗΛࢼ͢͜ͱ͕׆ൃԽɽ D. Holz, R. et
al. “Towards semantic scene analysis with Time-of- fl ight cameras”. RoboCup Intermational Symposium, 2010 M .Fallon et al. “Ef fi cient Scene Simulation for Robust Monte Carlo Localization Using an RGB-D Camera” CVPR 2012 tutorial w ϨϯδϑΝΠϯμ͕ޮՌͳͷͰ ಴࠳͍ͯͨ͠ʮҠಈϩϘοτͷ ؟ʯͱͯ͠΋ɼظ଴ͷ੕ʹɽ 1$-ͷجຊͷ঺հ

1PJOU$MPVE-JCSBSZͷొ৔ w 1PJOU$MPVEͱ.FTIͷॲཧͷͨΊͷ$ ݴޠʹΑΔΦʔϓϯ ιʔεͷେن໛ϥΠϒϥϦ w 0QFO$7ͷ࢞ຓϓϩδΣΫτ w #4%ϥΠηϯεແྉͰ঎༻࢖༻Մೳ w
8JO.BD-JOVY "OESPJEJ04ͷΫϩεϓϥοτϑΥʔϜ w 0QFO/*Λ͸͡Ίɺ֤ࣾσϓεηϯαʔͱ௚઀࿈ܞՄೳʢ఺܈ ͷ؆୯ͳϦΞϧλΠϜऔಘʣ 1$-ͷجຊͷ঺հ

ߏ੒Ϟδϡʔϧʢ1$-ʣɿ ॳظ͔ΒͷػೳʹՃ͑ɼ৽نϞδϡʔϧ͕ଟ਺௥Ճத 1$-ͷجຊͷ঺հ

1$-ͷσʔλܗࣜʹ͍ͭͯ ʢ1PJOU$MPVE1PJOU5 ͱQDEϑΝΠϧʣ 1$-ͷجຊͷ঺հ

%σʔλ w 3(#%ηϯαʔͰ୆Ͱ̍౓ʹࡱӨͨ͠σʔλ͸ɺશपғσʔλͷ׬શͳ %Λୡ੒͍ͯ͠ͳ͍ͱ͍͏ҙຯͰʮ%σʔλʯͱݺͿ͜ͱ͕͋Δɻ w ࡾ֯ଌྔ ಁࢹ౤ӨͷηϯγϯάͳͷͰ%σʔλͱͳΔ ,JOFDUͰऔಘͨ͠఺܈ ʢΧϝϥࢹ఺ଆ͔Βʣ
ࠨͷ఺܈Λ্ํ͔Βݟͨ΋ͷ 1$-ͷجຊͷ঺հ

QDM1PJOU$MPVE1PJOU5ܕ جຊతͳએݴํ๏ɿ pcl::PointCloud<PointT>::Ptr cloud( new PointCloud<PointT>() ); 1PJOU$MPVEʹؚ·ΕΔ఺ͷܗࣜΛද͢1PJOU5ͷྫ QDM1PJOU9:;
fl PBUY Z[ QDM1PJOU9:;* fl PBUY Z[ ً౓ QDM1PJOU9:;3(#" fl PBUY Z[ 3(#" QDM1PJOU/PSNBM fl PBUY Z[ʴOPSNBM<> DVSWBUVSF QDM)JTUPHSBN fl PBUIJTUPHSBN</>ɹ ྫ ɿ֤఺͕1PJOU9:;3(#"ͷ1PJOU$MPVEܕΦϒδΣΫτͷ࡞੒ PointCloud<pcl::PointXYZRGBA>::Ptr data(new PointCloud<pcl::PointXYZRGBA>()); ʮ৭෇͖ͷ%఺܈ɺ๏ઢʯͳͲͷσʔλΛ֨ೲ͢Δ 1$-ͰҰ൪Α͘࢖͏ΦϒδΣΫτ 1$-ͷجຊͷ঺հ

1$%ϑΝΠϧܗࣜ w 1$-ಠࣗఆٛͷ఺܈ϑΝΠϧܗ͕ࣜ1PJOU$MPVE%BUBʢ֦ுࢠ͸QDEʣ w PCK΍QMZͷΑ͏ʹϝογϡσʔλͷอଘ͕ඞཁͳ͍ͷͰɺ఺܈͚ͩΛอ ଘ͢ΔͨΊʹޮ཰తͳಠࣗϑΝΠϧܗࣜΛఆٛͨ͠ʢ˞චऀͷԱଌʣ w όΠφϦʔܗࣜͱςΩετܗࣜͷ̎छྨ͕ଘࡏ Լͷྫ͸ςΩετܗࣜ
1$-ͷجຊͷ঺հ

1$-JPϞδϡʔϧ w 1PJOU$MPVE1PJOU5ܕͷσʔλΛ1$-ͷಠࣗϑΝΠϧܗࣜ ͷʮQDEܗࣜʯ΁อଘɾಡΈࠐΈ͕Մೳ w 0QFO/*ʹΑΓσʔλΛऔಘͰ͖Δ֤छσϓεηϯα ,JOFDU 9UJPO ͔ΒϦΞϧλΠϜʹಉظ͞Εͨʮڑ཭ը૾ ʴ3(#ը૾ʯΛ1PJOU$MPVEܕͰΩϟϓνϟՄೳ
w ֤छϝογϡσʔλܗࣜʢPCKɺQMZɺWULϑΝΠϧʣͷಡΈ ॻ͖͕Մೳʢ˞ಡΈࠐΈ͸͋·Γॆ࣮͍ͯ͠ͳ͍ʣ 1$-ͷجຊͷ঺հ

0QFO/*(SBCCFSϑϨʔϜϫʔΫ w ,JOFDU͔Βܭଌ͞ΕΔ3(#%σʔλΛ௚઀औಘ͢ΔͨΊͷ Ϟδϡʔϧʢ0QFO/*ͷ֘౰ॲཧͷϥούʔʣ w 3(#ը૾ͱڑ཭ը૾͕Ґஔ߹ΘͤwಉظࡁΈͷঢ়ଶͰɺ 1PJOU$MPVE1PJOU5ܕΦϒδΣΫτͱͯ͠औಘͰ͖Δ 1$-ͷجຊͷ঺հ

఺܈ͷϦΞϧλΠϜऔಘ #include <pcl/io/openni_grabber.h> pcl::OpenNIGrabber grabber(argv[2]); boost::function<void (const CloudConstPtr&) > cloud_cb
= boost::bind (&OpenNIViewer::cloud_callback,this, _1); boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);ɹ// cloud_cbؔ਺Λొ࿥ void cloud_callback (const CloudConstPtr& cloud) { boost::mutex::scoped_lock lock (cloud_mutex_); cloud_ = cloud; //ຖϑϨʔϜ͝ͱͷcloud΁ͷॲཧΛ͜͜ʹهड़ } 0QFO/*(SBCCFSʹCJOEͨؔ͠਺ͷҾ਺Ͱɼ֤ϑϨʔϜͷ 1PJOU$MPVEΦϒδΣΫτ͕औಘͰ͖Δ ຖϑϨʔϜͷॲཧΛίʔϧόοΫؔ਺ʹهड़͢Δ 1$-ͷجຊͷ঺հ

1$-7JTVBMJ[FS w 1$-ͷ఺܈Λͱͯ΋؆୯ʹ%ՄࢹԽ͕Ͱ͖Δ PQFO$7Ͱ͍͏IJHI(6* w Ϛ΢ε΍ΩʔϘʔυͷೖྗ΋ड͚෇͚Δɽ w %Ϟσϧ PCKϑΝΠϧ౳
΋ಉ࣌ʹදࣔͰ͖ɺ%σʔλʹॏཁͳ๏ઢͷ ՄࢹԽػೳ΋࠷ॳ͔Β౥ࡌ ՄࢹԽπʔϧ 1$-7JTVBMJ[FS ͕ఏڙ͞Ε͍ͯΔ͓͔͛Ͱɼ ఺܈ॲཧͷΈʹूதͰ͖Δͱ͍ ͏ϝϦοτΛ1$-͕࢝Ίͯఏڙ Ͱ͖͍ͯΔ ˞ ୈ൛ͷ೥ݱࡏͰ͸ɼଞʹ΋ଟ͘ख ஈ͕͋Γɼ͋͘·Ͱ೥౰࣌ͷ࿩Ͱ ͋Δ͜ͱʹ஫ࢹ 1$-ͷجຊͷ঺հ

1$-ͷ๏ઢਪఆ w '-"//Λ༻͍ͨ,EUSFFʹΑΔۙࣅ࠷ۙ๣ ୳ࡧ QDM/PSNBM&TUJNBUJPO w *OUFHSBM*NBHFΛ༻͍ͨߴ଎ͳ๏ઢਪఆ QDM*OUFHSBM*NBHF/PSNBM&TUJNBUJ PO
͜ΕΒͷΫϥεʹؙ౤͛͢Δ͚ͩͰ๏ઢਪఆ͕Մೳ ʹ1$-͸ 0QFO$7ͷΑ͏ʹ ศརͳϥΠϒϥϦͰ͋Δ ˞ ୈ൛ͷ೥ݱࡏͰ͸ʮৄղ࣍ݩ఺܈ॲཧʯ͕࠾༻͍ͯ͠Δʮ0QFO%ʯ ΋ศརͰ͋Δɽࠓ͸1$-͚͕ͩબ୒ࢶͱ͍͏ঢ়گͰ͸ͳ͍ɽਂ૚ֶशϕʔεͷ %఺܈ॲཧʹ͍ͭͯ΋ɼଟ਺ιϑτ΢ΣΞ΋ެ։͞Ε͍ͯΔ 1$-ͷجຊͷ঺հ

%఺܈ॲཧͰͷ๏ઢͷ໾ׂ w ௚ײతʹ͸ %ද໘ͷඍ෼ํ޲ͳͷͰɺը૾Ͱݴ͏Τοδʹ૬౰ w ҙຯ෼ׂ΍෺ମೝࣝͳͲΛߦ͏্Ͱɺॏཁͳಛ௃ϕΫτϧͱͳΔ w ·ͨɼ%఺܈͸ϝογϡॲཧʹ΋࿈ܨͰ͖Δ w ϝογϡॲཧͰ΋๏ઢํ޲͸ॏཁͳಛ௃
1$-ͷجຊͷ঺հ

1$-ͷϝΠϯϞδϡʔϧ܈ 1$-ͷجຊͷ঺հ

༗ྉηϛφʔͰղઆ͍ͯ͠Δ͏ͪɺ ʮ'JMUFSTʯϞδϡʔϧͷղઆͷΈɼຊ೔͸঺հ͠·͢ 1$-ͷجຊͷ঺հ

'JMUFSTϞδϡʔϧ w ఺܈޲͚ͷϊΠζ΍֎Ε஋আڈɺฏ׈ԽͳͲͷϑΟϧλϦϯάΛఏڙ w ओͳΞϧΰϦζϜɿ w ಛఆͷྖҬ͚ͩநग़ 1BUI5ISPVHI w
ฏ׈Խ #JMBUFSBM'JMUFS w μ΢ϯαϯϓϦϯά 7PYFM(SJE fi MUFS w ֎Ε஋আڈʢ4UBUJTUJDBM0VUMJFS3FNPWBMʣ 1$-ͷجຊͷ঺հ

'JMUFSJOHͷඞཁੑ w ͕݀͋Δˠ݀ຒΊॲཧ 4VSGBDFϞδϡʔϧ w ϊΠζ͕ଟ͍ w ࿈ଓͨ͠ද໘্ͰͷԜತˠ#JMBUFSBM'JMUFSͰΤοδอଘͨ͠ ··ฏ׈Խ
w ࢄൃతͳϊΠζʢεϖοΫϧϊΠζʣ ˠ4UBUJTUJDBM0VUMJFS3FNPWBMͰ֎Ε஋আڈ w σʔλྔ͕ଟ͍ˠ7PYFM(SJE'JMUFSͰμ΢ϯαϯϓϦϯά %ηϯαʔͷੜσʔλ͸ดͨ͡ʢ݀ͷແ͍ʣ حྷͳ఺܈Ͱ͸ͳ͍ͷͰલॲཧͷඞཁੑ͋Γ 1$-ͷجຊͷ঺հ

1BTT5ISPVHI'JMUFS pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>); pcl::PassThrough<pcl::PointXYZ>
pass; pass.setInputCloud (cloud); pass.setFilterFieldName ("z"); pass.setFilterLimits (0.0, 1.0); //pass.setFilterLimitsNegative (true); ࢦఆൣғΛऔΓআ͘৔߹ pass.filter (*cloud_filtered); ೖྗ఺܈ͷ͏ͪɼࢦఆͨ̍࣍͠ݩ ͜͜Ͱ͸[ ํ޲ͷಛఆ ͷൣғͷ఺܈ͷΈΛɼϑΟϧλϦϯάॲཧͰऔಘͰ͖Δ 1$-ͷجຊͷ঺հ

7PYFM(SJE'JMUFS // ࢦఆͨ͠voxel grid·Ͱμ΢ϯαϯϓϦϯά pcl::VoxelGrid<pcl::PointXYZ> vg; vg.setInputCloud (cloud); vg.setLeafSize (0.01f,
0.01f, 0.01f); //0.01mཱํͷάϦουΛઃఆ vg. filter (∗cloud filtered ); w ࢦఆͨ͠7PYFM(SJEͷେ͖͞·Ͱ఺܈ΛϘΫηϧԽ w ֤άϦου͸άϦου಺ͷ఺ͷதԝ஋Ͱۙࣅ͞ΕΔ 1$-ͷجຊͷ঺հ

4UBUJTUJDBM0VUMJFS3FNPWBM pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor; sor.setInputCloud (cloud); sor.setMeanK (50); sor.setStddevMulThresh (1.0); sor.filter
(*cloud_filtered); w ہॴ͝ͱͷີ౓ʹै͍ɺ఺ΛϑΟϧλϦϯά w ֤ྖҬͰฏۉີ౓͔Βൺ΂ͯεύʔεͳ఺Λআڈ 1$-ͷجຊͷ঺հ

લ൒ͷ·ͱΊ w 1PJOU$MPVE-JCSBSZͷجຊ͚ͩ঺հɿ w 1PJOU$MPVEͱ3(#%σʔλͷߏ଄ʹ͍ͭͯಋೖ w ,JOFDUΛ࢝Ίͱ֤ͨࣾ͠σϓεηϯαʔ͔Β؆୯ʹ ϦΞϧλΠϜͷ఺܈ΛऔಘՄೳ w 1$-7JTVBMJ[FS͕͋ΔͷͰ%ՄࢹԽ΋؆୯
w ๛෋ͳެࣜνϡʔτϦΞϧͰߋʹษڧ͠·͠ΐ͏ 1$-ͷجຊͷ঺հ

ޙ൒ͳͥ఺܈ॲཧ͔ʁ ͳͥ఺܈ॲཧ͔ʁ

ʮίϯϐϡʔλϏδϣϯϏδϣϯΫΠζʯ ͷίʔφʔ ࣍ͷεϥΠυ͔Βͷ֤໰୊ʹ͍ͭͯ ʮը૾ೖྗͱσϓεೖྗͷͲͪΒͷํ͕ ؆୯ʹޮ཰Α͘ղ͚Δ͔ʁʯ ʹ͍ͭͯɼΈͳ͞·ʹ౴͑ͯ΋Β͍·͢ ͳͥ఺܈ॲཧ͔ʁ

2ηάϝϯςʔγϣϯ w "ը૾ w #σϓε IUUQXXXFFDTCFSLFMFZFEV 3FTFBSDI1SPKFDUT$4WJTJPO HSPVQJOHSFTPVSDFTIUNM IUUQDTOZVFEVdTJMCFSNBOQSPKFDUT JOEPPS@TDFOF@TFH@TVQIUNM
ͳͥ఺܈ॲཧ͔ʁ

2ਓݕग़ w "ը૾ w #σϓε ͳͥ఺܈ॲཧ͔ʁ

,JOFDUͷਓ෺࢟੎ਪఆɿ ৭ɾςΫενϟ͕ؔ܎ͳ͍యܕྫ σϓεͷΈͰܭࢉ͍ͯ͠ΔͷͰ ը૾͔Βͷೝࣝͱҧ͍ ܗ͚ͩͰࣝผ͠ɺҥ෰ɾഽͷςΫενϟ͸࢖༻͠ͳ͍ ˞ਓ෺ྖҬͷநग़΋ ۭؒͷ഑ஔ͚͚ͩͩͰ ߦΘΕ͍ͯΔ
ͳͥ఺܈ॲཧ͔ʁ ਤɿஶऀͷʮίϯϐϡʔλϏδϣϯͷηΧΠʯͷهࣄΑΓ

ը૾ಛ௃WT఺܈ಛ௃ <֤࠲ඪͷੜσʔλ> ఺"ͱ఺#ͷ σϓε ˠ%࠲ඪ ͷҧ͍ ఺"ͱ఺#ͷ 3(#஋ͷҧ͍ ͳͥ఺܈ॲཧ͔ʁ

఺"ͱ఺#ͷ %Τοδํ޲ͷҧ͍ ఺"ͱ఺#ͷ %๏ઢํ޲ͷҧ͍ ύον಺ͷ)0( 4*'5ͳͲ αʔϑΣεൣғ಺ͷ๏ઢώετάϥϜ ը૾ಛ௃WT఺܈ಛ௃ <ඍ෼஋>
ͳͥ఺܈ॲཧ͔ʁ

8IZ% ෺ମೝࣝͷ৔߹ ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻ ޫ؀ڥɾ൓ࣹͳͲͰɼlೋ࣍ݩը૾Ͱ͸ରԠ෇Ͱ͖ͳ͍ঢ়گz ˠσϓε %ܗঢ় ͕͋Ε͹ɼͳΜͱ͔Ͱ͖ͦ͏ʂʂ ͳͥ఺܈ॲཧ͔ʁ

lೋ࣍ݩը૾͸෺ମೝࣝ ҙຯநग़ ʹࣦഊ͢Δ͜ͱ͕͋Δz ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻ 8IZ% ෺ମೝࣝͷ৔߹ ͳͥ఺܈ॲཧ͔ʁ

l%ը૾͸ͨͩͷ̎࣍ݩ౤ӨͰ͋Δz ʢ˞ͪ͝Όͪ͝Όͱ෺͕ଟ͍৔ॴͰࣦഊ͕ͪ͠ʣ ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻ ͳͥ఺܈ॲཧ͔ʁ 8IZ% ෺ମೝࣝͷ৔߹

QDM3FDPHOJUJPO w %ಛ௃ϕʔεͰςϯϓϨʔ τ఺܈ͱͷؒͰϚονϯά w ෺ମΛೝࣝ %࢟੎ਪఆ w ௚ײతʹ͸ ը૾ಉ࢜Ͱͷ
4*'5Ϛονϯάͷ࣍ݩ൛ IUUQQPJOUDMPVETPSHEPDVNFOUBUJPOUVUPSJBMT DPSSFTQPOEFODF@HSPVQJOHQIQDPSSFTQPOEFODFHSPVQJOH ͳͥ఺܈ॲཧ͔ʁ

ϓϦϛςΟϒݕग़ ఺܈WTը૾ 3"/4"$ʹΑΔฏ໘ݕग़ )PVHIม׵ʹΑΔ௚ઢݕग़ ͳͥ఺܈ॲཧ͔ʁ

ฏ໘ݕग़ฏ໘Ҏ֎Λநग़ ˞1$-ͷ&VDMJEJBO$MVTUFSJOHΛ࢖༻ %఺܈͸ɼฏ໘্ͷ෺ମ நग़͕؆୯ʂʢۭؒൣғ Ͱ෼͚Δ͚ͩͳͷͰʣ ᶅ෺ମநग़݁ՌʢҰ൪ࠨͷ෺ମʣ ᶄฏ໘ݕग़ ͜ͷ఺܈Λᶃ͔ΒऔΓআ͘ ᶃೖྗͷ఺܈ ͳͥ఺܈ॲཧ͔ʁ

1$-ͷ3(#%ਓ෺ݕग़ ը૾ɿ*"41$-νϡʔτϦΞϧΑΓ w চݕग़ͷԠ༻ྫ w ॲཧखॱ w চฏ໘ݕग़ લॲཧ
w &VDMJEJBO$MVTUFSJOH w )0(ਓ෺ݕग़ث ͳͥ఺܈ॲཧ͔ʁ

ը૾ೖྗͰͷॲཧͰ΋   চฏ໘͘Β͍ਪఆͰ͖Δ͕ ఺܈͕ͳ͘ ը૾ೖྗ͔ΒͰ΋ɼ ʮᶃΧϝϥΩϟϦϒϨʔγϣϯ ʮᶄচͷ%࠲ඪܥ͕ط஌ʯ Ͱɼচ໘ͷີͳ࠲ඪܥΛٻΊΒΕΔ ྫɿࠨਤ ɽ
͔͠͠ʮฏ໘తͳද໘ চ΍น ʯ΍ʮ௚ઢݕग़Ͱ͖Δচ໛༷ʯ Ҏ֎Ͱ͸ɺচͷ࠲ඪܥ͕ը૾ຕ͔Β͸ਪఆͰ͖ͳ͍ σϓεηϯαʔͰ͋Ε͹ɺ চʹݶΒͣ γʔϯͷ%ද໘ܗঢ়͕ɺ࣮࣌ؒʹऔಘͰ͖Δ ͳͥ఺܈ॲཧ͔ʁ

73 "3 σϓεηϯαʔ΋࢖༻Ͱ͖Δͱͨ͠Βʁ ର৅෺΍ର৅ਓ෺ɺपғͷۭؒͷ%ܗঢ় ಈ͖͕Θ ͔͍ͬͯΔͳ͔Ͱʮ$(Λγʔϯͱಉ࣌දࣔʯ͢Δ ྫɿ w Ծ૝ࢼணϛϥʔͰͷ༸෰$(ࢼணɽ
w εϚϗ σϓεηϯαʔͰ"3 ήʔϜ w 73ΰʔάϧ /BUVSBM6TFS*OUFSGBDFͳͲ ʢσϓεηϯαʔొ৔Ҏલͷʣ15".ͳͲͷը૾ϕʔε"3Ͱ͸ɺ ը૾͔Β༧ଌͨ͠ฏ໘্ʹ͔͠ॏ৞Ͱ͖ͳ͔ͬͨ ͳͥ఺܈ॲཧ͔ʁ

%ܗঢ়ΛࡱΔGPS%ϓϦϯτ w %ϓϦϯλɿओͳೖྗσʔλ͸ʮ$"%$(ιϑτͰ ࡞੒ͨ͠%ϞσϧʯͰ͋ͬͨ Ϟσϧ ϓϦϯτ݁Ռ ࣮෺΋εΩϟϯͯ͠ೖྗσʔλͰϓϦϯτ IUUQXXXQPJOUDMPVEKQCMPH@O ͳͥ఺܈ॲཧ͔ʁ

%ΛࡱΔGPSෆಈ࢈ɾݐங w ߴਫ਼౓ͷ%εΩϟφʔ ਺ඦສԁ Λ༻͍ͯɺͬ͠ ͔Γߴਫ਼౓ʹγʔϯΛ%Խ ˞-J%"3ܭଌ͸ߴՁ ,JOFDUϕʔεͷʮ਺ेສԁͷ%εΩϟφʔʯͰ ࠓޙ͸ࣄ଍Γ͍ͯ͘ʁʁ
ͳͥ఺܈ॲཧ͔ʁ

ϞόΠϧεΩϟϯ 4USVDUVSF4FOTPS 5BOHPͳͲ w ෺΍ɺਓɺۭؒ͸ɺλϒϨοτ΍εϚϗͰ%εΩϟϯ͢Δ࣌୅΁ ʢདྷ೥೥ʹϒϨΠΫʁʣ w 4-".͕ຽओԽʢ௿Ձ֨Խʣ͠͸͡ΊΔɺͱ͍͏ྲྀΕͱ΋ݴ͑Δ 4USVDUVSF4FOTPS"U3JQMFZT#FMJFWF*U0S/PU IUUQXXXZPVUVCFDPNXBUDI
W+NH3E'20-1X ͳͥ఺܈ॲཧ͔ʁ ˞ ୈ൛ͷݱࡏͰ͸ɼεϚϗɾλϒϨοτͷߴڃϥΠϯʹ ͸ɼσϓεηϯαʔ౥ࡌࡁΈ͕ͩɼ͜ͷ౰࣌͸·ͩʮεϚϗ֤ ͕ࣾɼࠓޙ͜ΕΒʹखΛग़͔͢΋ʁʯͷஈ֊Ͱ͋ͬͨɽ

ޙ൒ʮͳͥ఺܈ॲཧ͔ʁʯ·ͱΊ w ʢ৭Λແࢹͯ͠ʣ࣍ݩͷܗ͚ͩͰର৅ΛೝࣝͰ͖Δ w ʢਓ޻෺ͩͱಛʹʣฏ໘΍ԁபͳͲϓϦϛςΟϒ͋ͯ͸ Ίָ͕ʢ*MPWF3"/4"$ʣ w ର৅ΛϑϧεΩϟϯ͢Ε͹%ੈքશମΛͦͷ··%Ͱ ೺ѲɾՄࢹԽͰ͖Δ w
ࡱͬͨର৅͸σβΠϯʹ΋׆͔ͤΔϞόΠϧ3(#%ηϯ αʔͷొ৔Ͱɺ%఺܈σʔλ͸དྷ೥Ҏ߱େྔʹ૿͑Δʁ ͳͥ఺܈ॲཧ͔ʁ

%఺܈ͷํ͕ɼزԿతද໘৘ใ͕ϦονʹಘΒΕΔ෼ ͚ͩɼը૾ೖྗΑΓ΋֤Ϗδϣϯ໰୊Λղ͘ͷ͕؆୯ɽ ຊ೔ͷ5BLFIPNFNFTTBHF ఺܈ॲཧ͸ʮΑΓ؆୯ʯ ˞ தڃऀͷํ͸ɼࢲͷαΠτʮ$7.-ΤΩεύʔτΨΠυʯ΋νΣοΫ͠ ͯΈ͍ͯͩ͘͞ɽࠓޙɼ఺܈ɼ%ॲཧͷهࣄ΋૿΍͍͖ͯ͠·͢

PCL (Point Cloud Library)の基本となぜ点群処理か_2023年_第2版.pdf

PCL (Point Cloud Library)の基本となぜ点群処理か_2023年_第2版.pdf

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