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JRM Vol.19 No.2 pp. 174-180
doi: 10.20965/jrm.2007.p0174
(2007)

Paper:

A Mobile Mapping System for Precise Road Line Localization Using a Single Camera and 3D Road Model

Kiichiro Ishikawa*, Yoshiharu Amano*, Takumi Hashizume*,
Jun-ichi Takiguchi**, and Naoyuki Kajiwara**

*Waseda University, 17 Kikui-cho, Shinjyuku-ku, Tokyo 162-0044, Japan

**Mitsubishi Electric Corporation, Kamakura Works, 325 Kamimachiya, Kamakura-shi, Kanagawa 247-8520, Japan

Received:
October 20, 2006
Accepted:
February 6, 2007
Published:
April 20, 2007
Keywords:
Mobile Mapping System, GPS-Gyro/IMU, highway alignment, GIS, FKP
Abstract

Precise highway alignment data to be used in car navigation and ITS to increase driving safety must be kept up-to-date and accurate. A Mobile Mapping System (MMS) provides a highway alignment database and offers unparalleled productivity when combined with navigation and videogrammetry tools. The MMS we propose features a GPS/Dead Reckoning (DR) combined navigation system, a three-axis GPS-Gyro/Inertial Measurement Unit (IMU), laser scanners, nearly horizontal cameras, and network-based Positioning Augmentation Services (PASTM) (Mitsubishi Electric Corporation) and measures center-line and side-line locations precisely based on a 3D road surface model. The carrier-phased D-GPS/DR navigation system and GPS-Gyro/IMU conducts highly accurate positioning in centimeters and posture estimation at 0.073° rms for heading, 0.064° rms for pitch, and 0.116° for roll. It provides 0.095 m rms accuracy for both center-line and side-line measurement when GPS visibility is sufficient. A comparison of accuracy between static RTK-GPS measurement and MMS measurement on the Tateyama Kurobe alpine route confirmed MMS dynamic measurement accuracy and effectiveness.

Cite this article as:
Kiichiro Ishikawa, Yoshiharu Amano, Takumi Hashizume,
Jun-ichi Takiguchi, and Naoyuki Kajiwara, “A Mobile Mapping System for Precise Road Line Localization Using a Single Camera and 3D Road Model,” J. Robot. Mechatron., Vol.19, No.2, pp. 174-180, 2007.
Data files:
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