SLAM with 3Dimensional-GNSS

Yanlei Gu, Yutaro Wada, Li Ta Hsu, Shunsuke Kamijo

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)


This paper presents a 3Dimensional-GNSS (3D-GNSS) positioning technique, which is used for localization and mapping simultaneously (SLAM). The 3D building model becomes an important aid to many positioning techniques such as LiDAR and GPS positioning methods. In order to automatically create the accurate map in wide area, the precise position of mobile mapping platform is needed. However, GNSS positioning performance is severely degraded because of the effects of multipath and Non-Line-Of-Sight (NLOS) in the urban area. With the aid of 3D building map, the proposed 3D-GNSS distinguishes whether the received GNSS signal is transmitted as LOS or NLOS path, and can calculate the length of reflection path for the improvement of positioning error. To achieve highly accurate positioning in urban canyon, we further develop 3D-GNSS based integrated vehicle self-localization system, which is comprised of 3D-GNSS, inertial sensor and vision sensor. On the other hand, highly precise positioning needs the accurate 3D building map. Inspired by the idea of 3D-GNSS, this paper proposes to optimize the 3D building map by estimating the reflection of GNSS signals. In addition, the position of mobile mapping platform is estimated from our integrated localization system in the mapping stage. The experimental result demonstrates that sub-meter accuracy is achieved in both localization and mapping.

Original languageEnglish
Title of host publicationProceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781509020423
Publication statusPublished - 26 May 2016
Externally publishedYes
EventIEEE/ION Position, Location and Navigation Symposium, PLANS 2016 - Savannah, Georgia
Duration: 11 Apr 201614 Apr 2016

Publication series

NameProceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016


ConferenceIEEE/ION Position, Location and Navigation Symposium, PLANS 2016


  • 3D building map
  • GNSS
  • mapping
  • sensor fusion
  • SLAM
  • vehicle self-localization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Instrumentation


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