TY - GEN
T1 - Low-cost 3D mobile mapping system by 6 DOF localization using smartphone embedded sensors
AU - Yokozuka, Masashi
AU - Hashimoto, Naohisa
AU - Matsumoto, Osamu
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/2/1
Y1 - 2016/2/1
N2 - To realize auto-driving vehicles transporting to anywhere in a country, a map containing the whole regions is necessary. In order to generate and update the big size map, number of mapping systems is an important matter. To introduce a large number of mapping systems, the costs of a system must be small. This paper describes a lowcost mobile mapping system employing a smartphone for positioning. Although the positioning function of smartphones is accurate enough to detect a self-position for pedestrian navigation, however, the accuracy is not enough to generate maps that contain obstacles for auto-driving. To gain accuracy of the positioning employing a smartphone, this paper uses a bundle adjustment that improves positioning results by fusing multiple sensor data. From experimental results, the proposed low-cost mapping system can generate an accurate map for auto-driving use.
AB - To realize auto-driving vehicles transporting to anywhere in a country, a map containing the whole regions is necessary. In order to generate and update the big size map, number of mapping systems is an important matter. To introduce a large number of mapping systems, the costs of a system must be small. This paper describes a lowcost mobile mapping system employing a smartphone for positioning. Although the positioning function of smartphones is accurate enough to detect a self-position for pedestrian navigation, however, the accuracy is not enough to generate maps that contain obstacles for auto-driving. To gain accuracy of the positioning employing a smartphone, this paper uses a bundle adjustment that improves positioning results by fusing multiple sensor data. From experimental results, the proposed low-cost mapping system can generate an accurate map for auto-driving use.
UR - http://www.scopus.com/inward/record.url?scp=84966762413&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84966762413&partnerID=8YFLogxK
U2 - 10.1109/ICVES.2015.7396915
DO - 10.1109/ICVES.2015.7396915
M3 - Conference contribution
AN - SCOPUS:84966762413
T3 - 2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
SP - 182
EP - 189
BT - 2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
Y2 - 5 November 2015 through 7 November 2015
ER -