G-ICP 기반 점군 정보를 활용한 디지털 트윈쉽 모델의 3차원 공간 정보 생성에 관한 기초 연구

Abstract

This paper describes the generation of 3D spatial information of a digital twinship model using point cloud information based on G-ICP. In order to generate realistic 3D spatial information, a preprocessing technique was applied to the image due to illumination change to correct the color information, and a preprocessing process was applied to filter the inherent noise of each sensor generated in the water operation environment. Then, an autonomous surface vehicle equipped with a camera and a LiDAR was autonomously operated in an inland water environment, and the camera and LiDAR data acquired from the surrounding environment were used to generate 3D spatial information based on the G-ICP technique, and the results were verified.