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Fig. 5 City infrastructure map of city Hopkins, Minnesota, USA, 
created. with GPS Vision system with submeter accuracy. 
5. Conclusion 
In this paper, the design of a mobile mapping system is 
presented. Integration the GPS, INS and stereo cameras 
on a moving platform enable us to efficiently collect huge 
amounts of digital data for GIS application. Every object 
which is seen on the stereo images can be positioned in a 
global coordinate system together with its attributes. All 
data collected can be transferred into common GIS 
systems. Data collected using the GPSVision meets the 
requirements of most engineering applications. Several 
project have been completed successfully. 
Automatic extraction of the features is a very important 
issue for mobile mapping application, it will greatly 
improve the data extraction procedure. Integrating 
other hardware, like a laser range finder, will bring the 
new abilities of the mobile mapping system. These are 
two major development in the future. 
6. Reference 
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and GIS Map the Nation's Highways," Geolnfo 
System Magazine, March issue, pp. 26-37. 
Gelb A., 1974. “Applied Optical Estimation,” The MIT 
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He G.P., Dedes G., Orvets G, Bossler J.D: “ Generation 
of a Transportation GIS by Integrating GPS, INS 
and Computer Vision Technology." The third 
international colloquium of LIESMARS, 
WTUSM, pp. 91-99, Wuhan, PR China, October, 
1994. 
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He G.P., 1995: “Automatic Tracking of Road Edges from 
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Convention, Volume — , pp. , Charlotte, NC, 
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Kraus, K., 1992. “Photogrammetry,” Duemmler Verlag, 
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Lapucha D. 1990., "Precise GPS/INS positioning for a 
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Wei M., Schwarz, K.P. 1990: *A Strapdown Inertial 
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Wang, Z.Z. 1990. "Principal of Photogrammetry (with 
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