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JRM Vol.25 No.1 pp. 5-15
doi: 10.20965/jrm.2013.p0005
(2013)

Paper:

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:
Taketoshi Mori, Takahiro Sato, Aiko Kuroda,
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.
Data files:
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Last updated on Feb. 25, 2021