幾何学的特徴の少ない環境における受光強度を用いた自己位置推定

抄録

The localization for automobile robot is one of the essential elements. The method for it uses registration using the surrounding geometric shapes by getting the point cloud from LIDAR. So, the estimation of the exact position using traditional methods is difficult in flat areas. This paper presents the method for robot localization using intensity of the ground. By getting features from differences in colors of road marker and materials such as grass and asphalt, our proposed method realizes exact registrations at environments with poor geometric features. The values of the intensity in the same place changes depending on the time and weather. The problem of changing values is solved by applying SLAM algorithm. SLAM algorithm locates itself by getting the point cloud at same conditions. Our proposed system estimates the exact position using the proposed method at environments with poor geometric features and use the traditional method at other places.