Outdoor Map Construction Based on Aerial Photography and Electrical Map Using Multi-Plane Laser Range Scan Data
Taketoshi Mori*, Takahiro Sato**, Aiko Kuroda**,
Masayuki Tanaka**, Masamichi Shimosaka**, Tomomasa Sato**,
Hiromi Sanada*, and Hiroshi Noguchi*
*Graduate School of Medicine, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
**Graduate School of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
This research is on personal mobility that estimates its self position on a sensor data map created from sensor data, acquired from laser range scan sensors and/or other sensors, and annotates various multiple items of information on a digital map. This paper describes a method of creating an edge-based grid map from both aerial photography and an electricalmap for this purpose and a way and its realization to estimate position and to construct outdoor maps from multi-plane laser range scan data on the grid map. Since threedimensional scanning is rather difficult and the scan rate is low, we used two-dimensional scanning that enables movement without slowing it down by scanning multiple horizontal and/or slanted planes. Experimental results show that the system is able to ensure the accuracy of accumulated error within 2 m by integrating aerial photography and electrical maps plus multiplane scanning.
Masayuki Tanaka, Masamichi Shimosaka, Tomomasa Sato,
Hiromi Sanada, and Hiroshi Noguchi, “Outdoor Map Construction Based on Aerial Photography and Electrical Map Using Multi-Plane Laser Range Scan Data,” J. Robot. Mechatron., Vol.25, No.1, pp. 5-15, 2013.
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