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; Hiroshi Noguchi

doi:10.20965/jrm.2013.p0005

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JRM Vol.25 No.1 pp. 5-15

doi: 10.20965/jrm.2013.p0005

(2013)

Paper:

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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

Received:

July 19, 2011

Accepted:

January 6, 2012

Published:

February 20, 2013

Keywords:

personal mobility, electric wheelchair, annotated map, mobile robot localization, outdoor navigation

Abstract

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.

Cite this article as:

T. Mori, T. Sato, A. Kuroda, M. Tanaka, M. Shimosaka, T. Sato, H. Sanada, and H. 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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References

[1] B. Douillard et al., “Laser and vision based outdoor objects mapping, Robotics Science and Systems,” 2008.
[2] T. Mori, T. Sato, H. Noguchi, M. Shimosaka, R. Fukui, and T. Sato, “Moving objects detection and classification based on trajectories of LRF scan data on a grid map,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2606-2611, 2010.
[3] D. Fox et al., “Markov localization for mobile robots in dynamic environments,” J. of Artificial Intelligence Research, Vol.11, pp. 391-427, 1999.
[4] M. Montemerlo et al., “Conditional particle filters for simultaneous mobile robot localization and people-tracking,” In Proc. of Int. Conf. on Robotics and Automation, pp. 695-701, 2002.
[5] C. Frueh et al., “3D model generation for cities using aerial photographs and ground level laser scans,” In Proc. of Computer Vision and Pattern Recognition, pp. 31-38, 2001.
[6] F. Lu and E. Milios, “Globally consistent range scan alignment for environment mapping,” Autonomous Robots, Vol.4, pp. 333-349, 1997.
[7] Y. Abe et al., “Error Recovery of Autonomous Mobile Robot with Global Matching,” J. of Robotics and Mechatronics, Vol.12, No.3, 2000.
[8] H. Zhao et al., “SLAM in a dynamic large outdoor environment using a laser scanner,” In Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1455-1462, 2008.
[9] K. Leung et al., “Localization in urban environments by matching ground level video images with an aerial image,” In Proc. of Int. Conf. on Robotics and Automation, pp. 551-556, 2008.
[10] R. Kummerle et al., “Large scale graph-based slam using aerial images as prior information,” In Proc. of Robotics Science and Systems, 2009.
[11] A. Sakai et al., “Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment,” J. of Robotics and Mechatronics, Vol.22, No.2, 2010.
[12] T. Vu et al., “Online localization and mapping with moving object tracking in dynamic outdoor environments,” In Intelligent Vehicle Symposium, pp. 190-195, 2007.
[13] H. Zhao, M. Chiba, R. Shibasaki, X. Shao, J. Cui, and H. Zha, “Slam in a dynamic large outdoor environment using a laser scanner,” In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1455-1462, 2008.
[14] L. Tang et al., “Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Omnidirectional Images,” J. of Robotics and Mechatronics, Vol.14, No.4, 2002.
[15] H. Koyasu et al., “Recognizing Moving Obstacles for Robot Navigation using Real-time Omnidirectional Stereo Vision,” J. of Robotics and Mechatronics, Vol.14, No.2, 2002.
[16] K. Kawabata et al., “Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information,” J. of Robotics and Mechatronics, Vol.18, No.2, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] B. Douillard et al., “Laser and vision based outdoor objects mapping, Robotics Science and Systems,” 2008.

[2] [2] T. Mori, T. Sato, H. Noguchi, M. Shimosaka, R. Fukui, and T. Sato, “Moving objects detection and classification based on trajectories of LRF scan data on a grid map,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2606-2611, 2010.

[3] [3] D. Fox et al., “Markov localization for mobile robots in dynamic environments,” J. of Artificial Intelligence Research, Vol.11, pp. 391-427, 1999.

[4] [4] M. Montemerlo et al., “Conditional particle filters for simultaneous mobile robot localization and people-tracking,” In Proc. of Int. Conf. on Robotics and Automation, pp. 695-701, 2002.

[5] [5] C. Frueh et al., “3D model generation for cities using aerial photographs and ground level laser scans,” In Proc. of Computer Vision and Pattern Recognition, pp. 31-38, 2001.

[6] [6] F. Lu and E. Milios, “Globally consistent range scan alignment for environment mapping,” Autonomous Robots, Vol.4, pp. 333-349, 1997.

[7] [7] Y. Abe et al., “Error Recovery of Autonomous Mobile Robot with Global Matching,” J. of Robotics and Mechatronics, Vol.12, No.3, 2000.

[8] [8] H. Zhao et al., “SLAM in a dynamic large outdoor environment using a laser scanner,” In Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1455-1462, 2008.

[9] [9] K. Leung et al., “Localization in urban environments by matching ground level video images with an aerial image,” In Proc. of Int. Conf. on Robotics and Automation, pp. 551-556, 2008.

[10] [10] R. Kummerle et al., “Large scale graph-based slam using aerial images as prior information,” In Proc. of Robotics Science and Systems, 2009.

[11] [11] A. Sakai et al., “Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment,” J. of Robotics and Mechatronics, Vol.22, No.2, 2010.

[12] [12] T. Vu et al., “Online localization and mapping with moving object tracking in dynamic outdoor environments,” In Intelligent Vehicle Symposium, pp. 190-195, 2007.

[13] [13] H. Zhao, M. Chiba, R. Shibasaki, X. Shao, J. Cui, and H. Zha, “Slam in a dynamic large outdoor environment using a laser scanner,” In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1455-1462, 2008.

[14] [14] L. Tang et al., “Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Omnidirectional Images,” J. of Robotics and Mechatronics, Vol.14, No.4, 2002.

[15] [15] H. Koyasu et al., “Recognizing Moving Obstacles for Robot Navigation using Real-time Omnidirectional Stereo Vision,” J. of Robotics and Mechatronics, Vol.14, No.2, 2002.

[16] [16] K. Kawabata et al., “Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information,” J. of Robotics and Mechatronics, Vol.18, No.2, 2006.

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*

Taketoshi Mori^*, Takahiro Sato^, Aiko Kuroda^,
Masayuki Tanaka^, Masamichi Shimosaka^, Tomomasa Sato^**,
Hiromi Sanada^, and Hiroshi Noguchi^