Fundamental study on 3D shape information acquisition using monocular camera and ultrasonic sensor

SfM (Structure from Motion), which is a technology to acquire three-dimensional shape information from multiple images, has problems such as difficulty in reconstructing the shape when the lighting condition during photographing is uneven and low radiation resistance due to the use of a camera. And ultrasonic measurement, which is a technology to acquire three-dimensional shape information by the aperture synthesis method, dose not depend on the lighting condition and radiation environment because sound waves are used. On the other hand, the density of point clouds that can be acquired is low, and color information cannot be obtained. In this paper, we report the results of the basic development of technology to compensate for the disadvantages of SfM, which is easily affected by illumination, and ultrasonic measurement technology, which cannot obtain color information, by aligning point clouds information of SfM with point clouds information of ultrasonic measurement. (author)