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OPERATING DEVICE, OPERATING SYSTEM, OPERATING METHOD, AND PROGRAM THEREFOR

  • US 20160070981A1
  • Filed: 09/02/2015
  • Published: 03/10/2016
  • Est. Priority Date: 09/08/2014
  • Status: Active Grant
First Claim
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1. An operating device comprising:

  • a reference laser scan data obtaining circuit having a structure that obtains laser scan data, which is obtained by scanning an object to be measured with laser light by a laser scanner while a vehicle travels, as reference laser scan data, the laser scanner fixed on the vehicle and having exterior orientation parameters with respect to the vehicle, which are determined;

    an image data obtaining circuit having a structure that obtains data of an image of the object, which is photographed at a predetermined timing by a camera that is fixed on the vehicle while the vehicle travels;

    a reference point cloud position data calculator that calculates reference point cloud position data, in which the reference laser scan data is described in a coordinate system defined on the vehicle at the predetermined timing, based on a trajectory the vehicle has travelled;

    a matching point selecting circuit having a structure that selects matching points between the reference point cloud position data and the image; and

    an exterior orientation parameter calculator that calculates exterior orientation parameters of the camera with respect to the vehicle based on the reference point cloud position data of the matching points and image coordinate values of the matching points in the image.

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