2P2-E35 屋外環境下で用いる自律移動システムに関する研究 : 第43報モービルマッピングシステムによる道路三次元モデルを用いた白線位置計測

概要

論文の詳細を見る
The development of road telematics requires the management of continuously growing road database. A MMS(Mobile Mapping System) can acquire this road database. The proposed MMS, featuring a GPS/IMU(Inertial Measurement Unit) combined navigation system, a GPS-Gyro/IMU, laser scanners, nearly horizontal cameras, can measure centerline and side-line location precisely considering 3D road surface model based on a laser scanner. The carrier phased D-GPS/IMU combined navigation system and GPS-Gyro/IMU performs highly accurate position and posture estimation at a few centimeter and 0.1 degree order. It can be said that the proposed MMS and its unique road signs positioning method is valid and effective as the road sign location error is within 100 [mm] even in the slanted road by considering the 3D road surface model.
一般社団法人日本機械学会の論文