Abstract
When we use odometry for localization of the robot, accumulated error which caused slip of tire become the problem. Currently, by the spread of the internet, map information is easily obtained. Therefor we can obtained priori information such as building and roads without go directly to the place. In this paper we propose the method which reduce the accumulated error by matching outline information of the building that was extracted from digital map and wall surface information of the building that is obtained from LIDAR. Our experiment was performed over 1000 m trajectory approximately in Meiji University to verify its validity.
