A Framework of Wearable Sensor-System Development for Urban 3D Modeling

Abstract

Recently, with the expansion of the smart city and autonomous driving-related technologies within complex urban structures, there has been an increase in the demand for precise 3D modeling technology. Wearable sensor systems can contribute to the construction of seamless 3D models for complex urban environments, as they can be utilized in various environments that are difficult to access using other sensor systems. Consequently, various studies have developed and utilized wearable sensor systems suitable for different target sites and purposes. However, studies have not yet suggested an overall framework for building a wearable system, including a system design method and an optimal calibration process. Therefore, this study aims to propose a framework for wearable system development, by presenting guidelines for wearable sensor system design and a calibration framework optimized for wearable sensor systems. Furthermore, calibration based on point–plane correspondences is proposed. A wearable sensor system was developed based on the proposed guidelines and it efficiently acquired data; the system calibration and data fusion results for the proposed framework showed improved performance in a comparative evaluation.