Seamless Switching Self-Localization System with RTK-GNSS and LiDAR Scan Matching Utilizing a 3D Urban Model Provided by Project PLATEAU

Abstract

A self-localization system that can switch seamlessly positions and attitudes estimated by a NDT scan matching and a RTK-GNSS has been developed so far. In this paper, a 3D urban model provided by the Project PLATEAU is utilized as a 3D environmental map for our seamless switchable self-localization system. An autonomous driving experiment is conducted using this self-localization system with a 3D urban model in the Tsukuba Challenge 2023EX, and the mobile robot completed a designated course involving around 1[km] in an urban area. However, one of issues encountered by using a 3D urban model of the Project PLATEAU is the jump in estimated positions when switching from a NDT scan matching to a RTK-GNSS. This issue can result in meandering autonomous driving. Thus, methods to solve this problem are discussed and proposed. Consequently, the methods enable mobile robots to stably obtain seamless estimated positions and attitudes.