NDLI: Low-cost 3D mobile mapping system by 6 DOF localization using smartphone embedded sensors

Content Provider	IEEE Xplore Digital Library
Author	Yokozuka, M. Hashimoto, N. Matsumoto, O.
Copyright Year	2015
Description	Author affiliation: Smart Mobility Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan (Yokozuka, M.; Hashimoto, N.; Matsumoto, O.)
Abstract	To realize auto-driving vehicles transporting to anywhere in a country, a map containing the whole regions is necessary. In order to generate and update the big size map, number of mapping systems is an important matter. To introduce a large number of mapping systems, the costs of a system must be small. This paper describes a lowcost mobile mapping system employing a smartphone for positioning. Although the positioning function of smartphones is accurate enough to detect a self-position for pedestrian navigation, however, the accuracy is not enough to generate maps that contain obstacles for auto-driving. To gain accuracy of the positioning employing a smartphone, this paper uses a bundle adjustment that improves positioning results by fusing multiple sensor data. From experimental results, the proposed low-cost mapping system can generate an accurate map for auto-driving use.
Starting Page	182
Ending Page	189
File Size	1971912
Page Count	8
File Format	PDF
e-ISBN	9781467391146
DOI	10.1109/ICVES.2015.7396915
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Simultaneous localization and mapping Shape Estimation Sensor fusion Gravity
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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