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.
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