Phased Disaster Data Collection System using Cooperation between Mobile Robots and Spatial Temporal GIS

This paper describes a phased earthquake data collection system using the cooperation between mobile robots and a spatial temporal GIS (Geographic Information System). This proposed method features three-phased data update and models a “change region” as KIWI+ building object data. The 1st update sends the robot position and the omnidirectional images as soon as possible. At the 2nd stage, 3D (three-dimensional) environmental data using the image texture, which is obtained by omnidirectional motion stereo augmented by the RTK (Real Time Kinematic)-GPS/INS, is sent as a VRML format. Finally, the change region, which is recognized by a difference operation between the obtained 3D environmental data and the GIS database, can be recognized as new KIWI+ object data. Field experiments and analyses have proved that the proposed system can provide sufficient data collection/update performance under complicated outdoor environment.