Wide-Area Road Surface Condition Observation System utilizing Traveling Sensing by LiDAR
Wide-Area Road Surface Condition Observation System utilizing Traveling Sensing by LiDAR
复制标题
利用激光雷达行驶传感的广域路面状况观测系统
DOI：
10.1109/icce53296.2022.9730415
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Kitatsuji Yoshinori
中科院分区：
文献类型：
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作者：
Akiyama Ryota;Yamamoto Hiroshi;Kitatsuji Yoshinori
为了提高大雪地区除雪活动的效率，道路降雪量的测量是最重要的任务之一。然而，目前除雪操作人员通过尺子和杆子直观地测量积雪深度，这给操作人员带来了负担。此外，路面状况的测量也是铺装道路养护的一项重要工作，但地方政府由于缺乏预算和负责人员，很难进行大范围的测量。现有的研究提出了一种利用超声波距离传感器并通过分析摄像机图像来测量路面状况的方法。但测量范围仅限于测量装置安装地点附近，难以正确测量路面和雪面的起伏。因此，在本研究中，我们提出了一种利用高精度传感器（例如激光雷达（光检测和测距））的新系统，可以测量路面的形状。通过将传感器安装在地方政府拥有的扫雪机和车辆上，系统可以在车辆运行时测量大范围的点云数据。此外，提出了通过分析表示路面形状的点云数据来估计路面起伏的方法。
In order to improve the efficiency of the snow removal activity in heavy snowfall areas, the measurement of the amount of snowfall on roads is one of the most important tasks. However, at present, the snow removal operator visually measures the snow depth by using rulers and poles, which becomes a burden for the operator. In addition, the measurement of road surface condition is also an important task for the maintenance of paved roads but it is difficult for local governments to perform the measurement in a wide area due to lack of budget and staff in charge. The existing research has proposed a method of measuring conditions of the road surface by using ultrasonic distance sensors and by analyzing camera images. However, the measurement range is limited to the vicinity of the place where the measurement device is installed, and it is difficult to correctly measure the undulations of the road surface and snow surface. Therefore, in this study, we propose a new system that utilizes high precision sensors such as LiDAR (Light Detection and Ranging) which can measure the shape of the road surface. By installing the sensors on the snowplows and vehicles owned by local governments, the system can measure the point cloud data for a wide area while the vehicles are in operation. Furthermore, the method to estimate the undulations of the road surface by analyzing the point cloud data that represents the shape of the road surface is proposed.