EVALUATION OF THE INFLUENCE OF TRAVELING SPEED AND POINT CLOUD MATCHING RANGE OF THE VEHICLE EQUIPPED WITH LIDAR SLAM DEVICE ON SELF-POSITION ESTIMATION ACCURACY

Abstract

 Among the real-time spatial understanding methods using SLAM (Simultaneous Localization and Mapping) technology, self-positioning using Lidar SLAM technology uses lidar, and uses a pre-measured base map without using GNSS or IMU. This is done by matching the lidar point cloud with the lidar point cloud at the time of measurement. However, the factors that affect the accuracy of self-location estimation have not been sufficiently studied. In particular, there are few cases in which the effects of the traveling speed of the measurement vehicle and the point cloud search range have been investigated. In this study, we conducted an experiment focusing on the influence of the moving speed of the measurement vehicle and the point cloud matching range in self-position estimation using Lidar SLAM. By comparing the results with positioning results from high-precision GNSS/IMU, we quantitatively examined the effects. As a result, it was found that there was almost no effect even if the traveling speed was different from 20 km/h, 40 km/h, or 60 km/h, and that the accuracy of the point cloud matching range decreased significantly when neighboring points were included.