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 proceedingConference 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 languageEnglish
Title of host publicationProceedings - 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
EditorsLaurence T. Yang, Jinjun Chen
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1304-1311
Number of pages8
ISBN (Electronic)9781509042968
DOIs
Publication statusPublished - 2017 Jan 20
Externally publishedYes
Event18th 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 122016 Dec 14

Publication series

NameProceedings - 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

Conference18th 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
CountryAustralia
CitySydney
Period16/12/1216/12/14

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

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