Abstract
We studied a self-localization technology of vehicle using the developed MEMS mirror type LiDAR. In data processing, we perform the movement correction within a LiDAR frame and the integration of multiple LiDARs. In NDT scan matching calculation, we perform ND map creation and LiDAR data down sampling using reflection intensity information. Results of experiments on general roads showed accuracy within 15cm in the direction of longitudinal, lateral and altitudinal. As a result, we confirmed that highly accurate self-localization can be realized by using above technologies.
