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Related Experiment Video

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Cost Effective Mobile Mapping System for Color Point Cloud Reconstruction.

Cheng-Wei Peng¹, Chen-Chien Hsu¹, Wei-Yen Wang¹

¹Department of Electrical Engineering, National Taiwan Normal University, Taipei 106, Taiwan.

Sensors (Basel, Switzerland)

|November 19, 2020

Summary

This summary is machine-generated.

This study introduces a cost-effective mobile mapping system (MMS) for autonomous vehicles, generating accurate 3D color point clouds. The system achieves centimeter-level accuracy, making high-definition map creation affordable for self-driving applications.

Keywords:

HD map autonomous driving color point cloud mobile mapping system (MMS)

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Area of Science:

Robotics and Autonomous Systems
Geomatics Engineering
Computer Vision

Background:

Survey-grade Lidar-based mobile mapping systems (MMSs) offer high accuracy but are prohibitively expensive for widespread autonomous driving adoption.
Existing systems face challenges in cost-effectiveness and precise 3D color point cloud generation for autonomous vehicle applications.

Purpose of the Study:

To develop a cost-effective MMS capable of generating accurate 3D color point clouds for autonomous driving.
To address the limitations of high-cost, survey-grade systems in practical autonomous vehicle implementation.

Main Methods:

Sensor timestamp synchronization and camera-Lidar calibration for integrating color attributes into Lidar points.
Utilizing control points for fine-tuning absolute point cloud positioning.
Employing Normal Distribution Transform (NDT) localization to refine trajectories and mitigate multi-scan dispersion issues, overcoming Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) limitations.

Main Results:

The proposed MMS successfully generates 3D color point clouds with centimeter-level position accuracy.
The system demonstrates the ability to meet the stringent accuracy requirements for high-definition (HD) maps essential for autonomous driving.

Conclusions:

The developed cost-effective MMS provides a viable solution for creating accurate 3D color point clouds for autonomous vehicles.
This advancement facilitates the affordable creation of HD maps, a critical component for the advancement of self-driving technology.