Comparative Study of Three-Dimensional Measurement Result and Application Result of SLAM Using Vehicle-Mounted Sensing Unit

Abstract

In Japan, MMS is used for maintenance and management of roads and rivers and generation of highly accurate three-dimensional map for automatic driving. However, MMS is very expensive and it is difficult to deploy to government offices nationwide. For this reason, the Ministry of Land, Infrastructure, Transport and Tourism aims to establish vehicle-based sensing technology using inexpensive equipment. Meanwhile the use of inexpensive equipment decreases the accuracy of measurement data, so establishment of a technique for generating three-dimensional information with high precision is desired. Therefore, the authors have designed a vehicle mounted sensing unit combining inexpensive sensors. In this research, the sensing unit is prototyped and wide area point cloud data is generated by two methods. Then, we consider the accuracy and challenges of each method.