2021 年 9 巻 2 号 p. 83-87
We propose a method to estimate the self-position from the distance between the poles and the LiDAR-equipped robot by placing poles with known coordinates at the four corners of the map. This method can be used for self-position estimation outdoors, where the scan data acquired by LiDAR is not fixed in time and position. Although it is possible to perform self-position estimation if at least two poles are used, we prove that using four poles improves the maximum error of x-coordinate by 41% and y-coordinate by 83%. We also prove that the maximum distance error from the true value can be reduced to 3.2 cm.
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