{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T19:59:06Z","timestamp":1782417546992,"version":"3.54.5"},"reference-count":51,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2016,3,12]],"date-time":"2016-03-12T00:00:00Z","timestamp":1457740800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Asset Management is an important component of an infrastructure project. A significant cost is involved in maintaining and updating the asset information. Data collection is the most time-consuming task in the development of an asset management system. In order to reduce the time and cost involved in data collection, this paper proposes a low cost Mobile Mapping System using an equipped laser scanner and cameras. First, the feasibility of low cost sensors for 3D asset inventory is discussed by deriving appropriate sensor models. Then, through calibration procedures, respective alignments of the laser scanner, cameras, Inertial Measurement Unit and GPS (Global Positioning System) antenna are determined. The efficiency of this Mobile Mapping System is experimented by mounting it on a truck and golf cart. By using derived sensor models, geo-referenced images and 3D point clouds are derived. After validating the quality of the derived data, the paper provides a framework to extract road assets both automatically and manually using techniques implementing RANSAC plane fitting and edge extraction algorithms. Then the scope of such extraction techniques along with a sample GIS (Geographic Information System) database structure for unified 3D asset inventory are discussed.<\/jats:p>","DOI":"10.3390\/s16030367","type":"journal-article","created":{"date-parts":[[2016,3,14]],"date-time":"2016-03-14T11:03:45Z","timestamp":1457953425000},"page":"367","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":71,"title":["Development of Mobile Mapping System for 3D Road Asset Inventory"],"prefix":"10.3390","volume":"16","author":[{"given":"Nivedita","family":"Sairam","sequence":"first","affiliation":[{"name":"Department of Civil, Environmental and Geomatics Engineering, Florida Atlantic University; 777 Glades Road, Boca Raton, FL 33431, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sudhagar","family":"Nagarajan","sequence":"additional","affiliation":[{"name":"Department of Civil, Environmental and Geomatics Engineering, Florida Atlantic University; 777 Glades Road, Boca Raton, FL 33431, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Scott","family":"Ornitz","sequence":"additional","affiliation":[{"name":"Keith and Schnars P.A, 6500 North Andrews Avenue, Fort Lauderdale, FL 33309, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2016,3,12]]},"reference":[{"key":"ref_1","unstructured":"Olsen, M.J. (2013). NCHRP 15-44 Guidelines for the Use of Mobile LIDAR in Transportation Applications, National Cooperative Highway Research Program."},{"key":"ref_2","unstructured":"Longley, P.A., Goodchild, M.F., Maguire, D.J., and Rhind, D.W. (1998). Geographical Information Systems, John Wiley and Sons. [2nd ed.]."},{"key":"ref_3","unstructured":"Laflamme, C., Kingston, T., and McCuaig, R. (2006, January 8\u201313). Automated mobile mapping for asset managers. Proceedings of the 23th International FIG Congress, Munich, Germany."},{"key":"ref_4","first-page":"272","article-title":"Capturing road network data using mobile mapping technology","volume":"33","author":"He","year":"2000","journal-title":"Proc. Int. Arch. Photogramm. Remote Sens."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"521","DOI":"10.1016\/j.trc.2010.08.002","article-title":"Comparison of mobile and manual data collection for roadway components","volume":"19","author":"Findley","year":"2011","journal-title":"Transp. Res. C Emerg. Technol."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"673","DOI":"10.1016\/j.cageo.2005.09.003","article-title":"MAP IT: The GIS software for field mapping with tablet pc","volume":"32","author":"Donatis","year":"2006","journal-title":"Comput. Geosci."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1016\/S0198-9715(99)00027-7","article-title":"Wireless field data collection and EO\u2013GIS\u2013GPS integration","volume":"23","author":"Zingler","year":"1999","journal-title":"Comput. Environ. Urban Syst."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1023\/A:1020805511054","article-title":"Field data collection with mobile GIS: Dependencies between semantics and data quality","volume":"6","author":"Pundt","year":"2002","journal-title":"GeoInformatica"},{"key":"ref_9","first-page":"1","article-title":"Mobile mapping technology for road network data acquisition","volume":"2","author":"Tao","year":"2000","journal-title":"J. Geospat. Eng."},{"key":"ref_10","first-page":"759","article-title":"Mobile mapping systems\u2014State of the art and future trends","volume":"35","author":"Klaus","year":"2012","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_11","first-page":"774","article-title":"Kinematic Multi-Sensor Systems for Close Range Digital Imaging","volume":"31","author":"Schwarz","year":"1996","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"4652","DOI":"10.3390\/rs5094652","article-title":"Synthesis of Transportation Applications of Mobile LIDAR","volume":"5","author":"Williams","year":"2013","journal-title":"Remote Sens."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"302","DOI":"10.3390\/ijgi4010302","article-title":"Optimising Mobile Mapping System Laser Scanner Orientation","volume":"4","author":"Cahalane","year":"2015","journal-title":"ISPRS Int. J. Geo Inf."},{"key":"ref_14","first-page":"125","article-title":"Automated Road Markings Extraction from Mobile Laser Scanning Data","volume":"87","author":"Kumar","year":"2014","journal-title":"Int. J. Appl. Earth Observ. Geoinf."},{"key":"ref_15","unstructured":"Van Geem, C., and Gautama, S. (2006, January 17\u201318). Mobile mapping with a stereo-camera for road assessment in the frame of road network management. Proceedings of the 2nd International Workshop \u201cThe Future of Remote Sensing, Antwerp, Belgium."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"11712","DOI":"10.3390\/s120911712","article-title":"Multiplatform Mobile Laser Scanning: Usability and Performance","volume":"12","author":"Kukko","year":"2012","journal-title":"Sensors"},{"key":"ref_17","unstructured":"Meruani, A., and Woodruff, G.W. (2006). Tweel\u2122 Technology Tires for Wheelchairs and Instrumentation for Measuring Everyday Wheeled Mobility. [Master\u2019s Thesis, Georgia Institute of Technology]."},{"key":"ref_18","unstructured":"Hunter, G., Cox, C., and Kremer, J. Available online: http:\/\/www.isprs.org\/proceedings\/XXXVI\/1-W44\/papers\/Hunter_full.pdf."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"2935","DOI":"10.3390\/s120302935","article-title":"Sensor Integration in a Low Cost Land Mobile Mapping System","volume":"12","author":"Madeira","year":"2012","journal-title":"Sensors"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1111\/0031-868X.t01-1-00004","article-title":"Development of A Low-Cost Mobile Mapping System: A South American Experience","volume":"18","author":"Silva","year":"2003","journal-title":"Photogramm. Rec. Photogramm. Rec."},{"key":"ref_21","unstructured":"Ellum, C.M.N., and El-Sheimy, N. (2001, January 3\u20135). A mobile mapping system for the survey community. Proceedings of the 3rd International Symposium on Mobile Mapping Technology (MMS 2001), Cario, Egypt."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"514","DOI":"10.1016\/j.isprsjprs.2010.08.002","article-title":"A Low-Cost Multi-Sensoral Mobile Mapping System and Its Feasibility for Tree Measurements","volume":"65","author":"Jaakkola","year":"2010","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_23","unstructured":"Lam, J., Kusevic, K., Mrstik, P., Harrap, R., and Greenspan, M. (2010, January 17\u201320). Urban scene extraction from mobile ground based lidar data. Proceedings of the 5th International Symposium on 3D Data, Processing, Visualization & Transmission (3DPVT 2010), Paris, France."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Vosselman, G. (2013). Point Cloud Segmentation for Urban Scene Classification. ISPRS Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci.","DOI":"10.5194\/isprsarchives-XL-7-W2-257-2013"},{"key":"ref_25","first-page":"293","article-title":"Mapping Curbstones in Airborne and Mobile Laser Scanning Data","volume":"18","author":"Zhou","year":"2012","journal-title":"Int. J. Appl. Earth Observ. Geoinf."},{"key":"ref_26","first-page":"650","article-title":"Auto-extraction of urban features from vehicle-borne laser data","volume":"34","author":"Manandhar","year":"2002","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Sun, H., Wang, C., and El-Sheimy, N. (2011, January 10\u201312). Automatic Traffic Lane Detection for Mobile Mapping Systems. Proceedings of the 2011 International Workshop on Multi-Platform\/Multi-Sensor Remote Sensing and Mapping, Xiamen, China.","DOI":"10.1109\/M2RSM.2011.5697365"},{"key":"ref_28","first-page":"709","article-title":"Automatic reconstruction of road Centerlines from mobile mapping image sequences","volume":"64","author":"Tao","year":"1998","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"S28","DOI":"10.1016\/j.isprsjprs.2011.08.006","article-title":"Recognizing Basic Structures from Mobile Laser Scanning Data for Road Inventory Studies","volume":"66","author":"Pu","year":"2011","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_30","unstructured":"Brenner, C. (2009). Advances in GIScience, Springer. Lecture Notes in Geoinformation and Cartography."},{"key":"ref_31","unstructured":"Schultz, A.J. (2012). The Role of GIS in Asset Management: Integration at the Otay Water Distict. [Ph.D. Thesis, University of Southern California]."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"874","DOI":"10.3390\/rs2030874","article-title":"Alternative Methodologies for LiDAR System Calibration","volume":"2","author":"Habib","year":"2010","journal-title":"Remote Sens."},{"key":"ref_33","unstructured":"Mostafa, M.M.R. (2001, January 5\u20138). Boresight calibration of integrated inertial\/camera systems. Proceedings of the International Symposium on Kinematic Systems in Geodesy, Geomatics and Navigation (KIS 2001), Banff, AB, Canada."},{"key":"ref_34","first-page":"13","article-title":"Boresight Alignment Method for Mobile Laser Scanning Systems","volume":"4","author":"Rieger","year":"2010","journal-title":"J. Appl. Geod."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"387","DOI":"10.1016\/j.cam.2005.06.047","article-title":"Computing Helmert Transformations","volume":"197","author":"Watson","year":"2006","journal-title":"J. Comput. Appl. Math."},{"key":"ref_36","unstructured":"Chen, Y., and Medioni, G. (1991, January 9\u201311). Object Modeling by Registration of Multiple Range Images. Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, USA."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_38","unstructured":"CloudCompare\u2014Open Source Project CloudCompare\u2014Open Source Project. Available online: http:\/\/www.danielgm.net\/cc\/."},{"key":"ref_39","unstructured":"Zhang, Z. (1999, January 20\u201327). Flexible Camera Calibration by Viewing a Plane from Unknown Orientations. Proceedings of the IEEE 7th International Conference on Computer Vision, Kerkyra, Greece."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"806","DOI":"10.1111\/j.1477-9730.1976.tb00856.x","article-title":"Close Range Camera Calibration: A New Method","volume":"8","author":"Scott","year":"1976","journal-title":"Photogramm. Rec."},{"key":"ref_41","unstructured":"Bouguet, J.-Y. Camera Calibration Toolbox for Matlab. Available online: http:\/\/www.vision.caltech.edu\/bouguetj\/calib_doc\/."},{"key":"ref_42","unstructured":"Gontran, H., Skaloud, J., and Gilli\u00e9ron, P.Y. (2007). Advances in Mobile Mapping Technology, Taylor & Francis Group."},{"key":"ref_43","unstructured":"Atkinson, K. Modelling a Road Using Spline Interpolation. Available online: http:\/\/homepage.math.uiowa.edu\/~atkinson\/ftp\/roads.pdf."},{"key":"ref_44","first-page":"13","article-title":"Land-based mobile mapping systems","volume":"68","author":"Ellum","year":"2002","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_45","first-page":"198","article-title":"Direct Georeferencing Using GPS\/Inertial Exterior Orientations for Photogrammetric Applications","volume":"33","author":"Crammer","year":"2000","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"key":"ref_46","first-page":"1417","article-title":"A Multi-Sensor System for Airborne Image Capture and Georeferencing","volume":"66","author":"Mostafa","year":"2000","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1109\/TGRS.2008.2010314","article-title":"UAV-Borne 3-D Mapping System By Multisensor Integration","volume":"47","author":"Nagai","year":"2009","journal-title":"IEEE Trans. Geosci. Remote Sens."},{"key":"ref_48","unstructured":"Hauser, D.L. (2013). Three-Dimensional Accuracy Analysis of a Mapping-Grade Mobile Laser Scanning System. [Master\u2019s Thesis, The University of Houston]."},{"key":"ref_49","unstructured":"TIGER\/Line Shapefiles [Machine-Readable Data Files]\/Prepared by the U.S. Census Bureau, Available online: https:\/\/www.census.gov\/geo\/maps-data\/data\/tiger-line.html."},{"key":"ref_50","first-page":"184","article-title":"A Computational Approach to Edge Detection","volume":"PAMI-8","author":"Canny","year":"1987","journal-title":"Read. Comput. Vis."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1016\/S2212-5671(14)00356-6","article-title":"Automatic Road Inventory Using LiDAR","volume":"12","author":"Landa","year":"2014","journal-title":"Procedia Econ. Financ."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/3\/367\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:20:38Z","timestamp":1760210438000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/3\/367"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,3,12]]},"references-count":51,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2016,3]]}},"alternative-id":["s16030367"],"URL":"https:\/\/doi.org\/10.3390\/s16030367","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,3,12]]}}}