Kimura Naoto, Masafumi Nakagawa, Koki Kurita, Tomohiro Ozeki, Nobuaki Kubo, Etsuro Shimizu, Ryosuke Shibasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In recent years, Mobility as a Service (MaaS) has been discussed to provide new transportation technology services with GIS, IoT, and automated driving technology. In waterfront areas, autonomous water buses and taxies have been developed to integrate land transportation services, such as trains, buses, and taxies. As well as autonomous vehicles and trains, autonomous ships require precise 3D maps and position data obtained by GNSS positioning. Therefore, we focus on 3D measurement with laser scanning and PPP-RTK with QZSS CLAS (centimeter-level augmentation service) to improve the accuracy and performance of GNSS positioning. However, rivers in urban areas, especially in Tokyo, have poor GNSS positioning environments such as places under bridges and highways. Thus, we also focus on Simultaneous Localization and Mapping (SLAM) using laser scanners as a self-positioning approach to achieve indoor-outdoor seamless positioning. In this study, we experimented with 3D river mapping for autonomous ships. We used two laser scanners and a multi-frequency GNSS receiver mounted on a quick charging plug-in electric boat. We selected two rivers as our study areas. The first is Kanda-gawa river as a typical river in Tokyo. The second is Nihonbashi-gawa river as a GNSS-denied environment. In this paper, we present the results of our preliminary experiments.

Original languageEnglish
Title of host publication42nd Asian Conference on Remote Sensing, ACRS 2021
PublisherAsian Association on Remote Sensing
ISBN (Electronic)9781713843818
Publication statusPublished - 2021
Event42nd Asian Conference on Remote Sensing, ACRS 2021 - Can Tho, Viet Nam
Duration: 2021 Nov 222021 Nov 26

Publication series

Name42nd Asian Conference on Remote Sensing, ACRS 2021


Conference42nd Asian Conference on Remote Sensing, ACRS 2021
Country/TerritoryViet Nam
CityCan Tho


  • 3D mapping
  • Indoor-outdoor seamless positioning
  • Mobile Laser Scanning
  • SLAM

ASJC Scopus subject areas

  • Information Systems


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