Accurate Mobile Urban Mapping via Digital Map-Based SLAM †

Sensors

Younggun Cho¹  Ayoung Kim¹  Jinyong Jeong¹  Hyunchul Roh² 

[1] Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea;Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea;

关键词: 3D mapping;    SLAM;    digital map;    urban mapping system;    IPM;    lane map;   

DOI  :  10.3390/s16081315

来源: DOAJ

【 摘 要 】

This paper presents accurate urban map generation using digital map-based Simultaneous Localization and Mapping (SLAM). Throughout this work, our main objective is generating a 3D and lane map aiming for sub-meter accuracy. In conventional mapping approaches, achieving extremely high accuracy was performed by either (i) exploiting costly airborne sensors or (ii) surveying with a static mapping system in a stationary platform. Mobile scanning systems recently have gathered popularity but are mostly limited by the availability of the Global Positioning System (GPS). We focus on the fact that the availability of GPS and urban structures are both sporadic but complementary. By modeling both GPS and digital map data as measurements and integrating them with other sensor measurements, we leverage SLAM for an accurate mobile mapping system. Our proposed algorithm generates an efficient graph SLAM and achieves a framework running in real-time and targeting sub-meter accuracy with a mobile platform. Integrated with the SLAM framework, we implement a motion-adaptive model for the Inverse Perspective Mapping (IPM). Using motion estimation derived from SLAM, the experimental results show that the proposed approaches provide stable bird’s-eye view images, even with significant motion during the drive. Our real-time map generation framework is validated via a long-distance urban test and evaluated at randomly sampled points using Real-Time Kinematic (RTK)-GPS.

【 授权许可】

Unknown