High Definition LiDAR mapping of Perth CBD

Muhammad Ibrahim, Naveed Akhtar, Mohammad A.A.K. Jalwana, Michael Wise, Ajmal Mian

Research output: Chapter in Book/Conference paperConference paperpeer-review

8 Citations (Scopus)


High Definition (HD) 3D maps are gaining popularity in automation. For the emerging industry of autonomous driving, point cloud-based HD mapping is particularly interesting due to its robustness to weather conditions in data collection. It can help driverless and robotic vehicles to precisely localize and navigate in large complex environments. We present a scalable technique to effectively construct an HD 3D map of an urban environment. We demonstrate the application of our approach by constructing a 3D map of the Central Business District (CBD) of Perth, Australia. Our mapping covers a ground floor area of approximately 4 km2. We use Ouster LiDAR sensor for data collection. On one hand, ours is a unique approach to construct large-scale HD maps in urban settings. On the other, we provide the first-ever instance of HD point cloud map of Perth CBD, which is in-line with the recent developments of autonomous driving in Western Australia. To construct the map, we extract closed spatial loops from the frames, which are aligned with a 3D normal-distribution transform, and meticulously fused to construct a single closed loop HD sub-map. The sub-maps are combined to construct the full large-scale map of the region. We adopt closed loop formation to suppress error propagation in our mapping. We provide binary annotation to split the map into roads and other objects. Finally, we also demonstrate an additional utility of our mapping technique in self-localization of vehicles using Eigen features in the map.

Original languageEnglish
Title of host publicationDICTA 2021 - 2021 International Conference on Digital Image Computing
Subtitle of host publicationTechniques and Applications
EditorsJun Zhou, Olivier Salvado, Ferdous Sohel, Paulo Vinicius K. Borges, Shilin Wang
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISBN (Electronic)9781665417099
Publication statusPublished - 2021
Event2021 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2021 - Gold Coast, Australia
Duration: 29 Nov 20211 Dec 2021

Publication series

NameDICTA 2021 - 2021 International Conference on Digital Image Computing: Techniques and Applications


Conference2021 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2021
CityGold Coast


Dive into the research topics of 'High Definition LiDAR mapping of Perth CBD'. Together they form a unique fingerprint.
  • 3D Scene understanding from LiDAR point clouds

    Ibrahim, M., 2023, (Unpublished)

    Research output: ThesisDoctoral Thesis

    57 Downloads (Pure)

Cite this