Registration of low cost maps within large scale MMS maps

Simon Thompson; Masashi Yokozuka; Naohisa Hashimoto; Osamu Matsumoto

doi:10.1109/HPCC-SmartCity-DSS.2016.0185

Registration of low cost maps within large scale MMS maps

Simon Thompson, Masashi Yokozuka, Naohisa Hashimoto, Osamu Matsumoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

High resolution 3D mapping of road systems is currently being carried out by expensive Mobile Mapping Systems (MMS) but coverage is limited. Recently Low Cost Sensor (LCS) systems have been developed which use common, low cost, internal MEMS position sensors from mobile phones, but such sensors come with a reduced absolute and relative positional accuracy. This study investigates the registration of LCS maps within MMS maps to improve map coverage and lower costs. MMS and LCS maps of a real world environment are made and registration is performed using feature matching and Iterative Closest Point alignment. Accuracy of ICP alignment is approximately (10cm) and local convergence is possible up to (1m). A combination of feature matching and ICP is used to demonstrate accurate alignment from an initial error of (10m). An example of a LCS map aligned within a MMS map is presented to confirm the use of LCS systems to extend 3D mapping coverage.

Original language	English
Title of host publication	Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016
Editors	Laurence T. Yang, Jinjun Chen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1304-1311
Number of pages	8
ISBN (Electronic)	9781509042968
DOIs	https://doi.org/10.1109/HPCC-SmartCity-DSS.2016.0185
Publication status	Published - 2017 Jan 20
Externally published	Yes
Event	18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016 - Sydney, Australia Duration: 2016 Dec 12 → 2016 Dec 14

Publication series

Name	Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016

Conference

Conference	18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016
Country/Territory	Australia
City	Sydney
Period	16/12/12 → 16/12/14

Keywords

3D mapping
Autonomous vehicles

ASJC Scopus subject areas

Computational Theory and Mathematics
Computer Networks and Communications
Computer Science Applications
Hardware and Architecture
Information Systems

Access to Document

10.1109/HPCC-SmartCity-DSS.2016.0185

Cite this

Thompson, S., Yokozuka, M., Hashimoto, N., & Matsumoto, O. (2017). Registration of low cost maps within large scale MMS maps. In L. T. Yang, & J. Chen (Eds.), Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016 (pp. 1304-1311). [7828526] (Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HPCC-SmartCity-DSS.2016.0185

Registration of low cost maps within large scale MMS maps. / Thompson, Simon; Yokozuka, Masashi; Hashimoto, Naohisa et al.

Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016. ed. / Laurence T. Yang; Jinjun Chen. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1304-1311 7828526 (Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Thompson, S, Yokozuka, M, Hashimoto, N & Matsumoto, O 2017, Registration of low cost maps within large scale MMS maps. in LT Yang & J Chen (eds), Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016., 7828526, Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1304-1311, 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016, Sydney, Australia, 16/12/12. https://doi.org/10.1109/HPCC-SmartCity-DSS.2016.0185

Thompson S, Yokozuka M, Hashimoto N, Matsumoto O. Registration of low cost maps within large scale MMS maps. In Yang LT, Chen J, editors, Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1304-1311. 7828526. (Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016). doi: 10.1109/HPCC-SmartCity-DSS.2016.0185

Thompson, Simon ; Yokozuka, Masashi ; Hashimoto, Naohisa et al. / Registration of low cost maps within large scale MMS maps. Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016. editor / Laurence T. Yang ; Jinjun Chen. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1304-1311 (Proceedings - 18th IEEE International Conference on High Performance Computing and Communications, 14th IEEE International Conference on Smart City and 2nd IEEE International Conference on Data Science and Systems, HPCC/SmartCity/DSS 2016).

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abstract = "High resolution 3D mapping of road systems is currently being carried out by expensive Mobile Mapping Systems (MMS) but coverage is limited. Recently Low Cost Sensor (LCS) systems have been developed which use common, low cost, internal MEMS position sensors from mobile phones, but such sensors come with a reduced absolute and relative positional accuracy. This study investigates the registration of LCS maps within MMS maps to improve map coverage and lower costs. MMS and LCS maps of a real world environment are made and registration is performed using feature matching and Iterative Closest Point alignment. Accuracy of ICP alignment is approximately (10cm) and local convergence is possible up to (1m). A combination of feature matching and ICP is used to demonstrate accurate alignment from an initial error of (10m). An example of a LCS map aligned within a MMS map is presented to confirm the use of LCS systems to extend 3D mapping coverage.",

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author = "Simon Thompson and Masashi Yokozuka and Naohisa Hashimoto and Osamu Matsumoto",

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AB - High resolution 3D mapping of road systems is currently being carried out by expensive Mobile Mapping Systems (MMS) but coverage is limited. Recently Low Cost Sensor (LCS) systems have been developed which use common, low cost, internal MEMS position sensors from mobile phones, but such sensors come with a reduced absolute and relative positional accuracy. This study investigates the registration of LCS maps within MMS maps to improve map coverage and lower costs. MMS and LCS maps of a real world environment are made and registration is performed using feature matching and Iterative Closest Point alignment. Accuracy of ICP alignment is approximately (10cm) and local convergence is possible up to (1m). A combination of feature matching and ICP is used to demonstrate accurate alignment from an initial error of (10m). An example of a LCS map aligned within a MMS map is presented to confirm the use of LCS systems to extend 3D mapping coverage.

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Registration of low cost maps within large scale MMS maps

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Keywords

ASJC Scopus subject areas

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