3D Lidar から生成した複数 2 次元マップを用いた自律移動ロボットの自己位置推定法の検討

抄録

In this paper, we propose a self-localization method of an autonomous mobile robot using multiple 2D maps generated with information from 3D Lidar. In this method multiple 2D maps are generated with 3D point cloud divided into some groups based on the height from the ground. Then, multiple probability distributions for self-localization are generated with particle filter. The result of self-localization is calculated by selection and integration of the probability distributions based on KL divergence.