3D environmental map building using dual frequency RTK-GNSS and LiDAR

Abstract

We have created a 3D environment map building system by using the vehicle equipped with dual frequency RTK-GNSS, IMU and 3D LiDAR to utilize for surveying. There are mainly two factors to build a 3D environment map, namely 3D self-localization and coordinate transform of PCD. First, accurate 3D position and orientation of the LiDAR was estimated successfully by using dual frequency RTK-GNSS and IMU, while driving at 10 to 30 km/h. As the base station for the RTK-GNSS, the high accuracy position data delivery system “ichimill” was used in this experiment. Second, a highly accurate 3D environment map was created successfully by superimposing PCD that was coordinate transformed based on 3D self-localization data. The experimental results showed that a highly accurate 3D environment map can be created only by driving a vehicle and acquiring sensor data. This system is expected to be applied in areas where drone surveying is difficult.