Efficient and Wide-Area 3D Environmental Map Building and its Accuracy Evaluation Using Vehicles Mounted with 3D LiDAR

Abstract

The efficient and wide-area 3D map building and its accuracy using a vehicle mounted with RTK-GNSS, IMU and LiDAR was experimentally verified. 3D surveying maps are used in construction sites with the shift to ICT. However, there are problems that surveying work generally requires a lot of time and manpower. Therefore, our map building system acquires sensor data while the car is running. Afterward, based on highly accurate 3D self-localization, coordinate transformation of 3D point data is performed to build the 3D map. The experimental results showed the practical use of our system, by comparing it with conventional survey maps.