GNSS/LiDAR複合測位に関する研究

―環境に応じた手法の切り替えによるシームレスな位置推定の実現―

抄録

In this paper, we propose a combined positioning method using GNSS and LiDAR. Conventional positioning methods such as GNSS and LiDAR have a problem that the estimation accuracy depends on the environment. In addition, it is difficult to combine GNSS and LiDAR because they have different coordinate systems. In this paper, we unify the coordinate systems by using a method that assigns absolute position information to 3D point clouds. In addition, we optimize the position estimation by switching the estimation method according to the environment and combining them by EKF. In this paper, we propose a new method to estimate the position of a vehicle by using LiDAR and GNSS. In this paper, we also evaluate the performance of the proposed method in position estimation and test its application to control to confirm its effectiveness.