LiDARの反射強度及び溜水の計測情報を利用した大域的点群位置合わせによるSLAMの性能向上

抄録

The accuracy of scan matching-based SLAM strongly depends on the result of the initial alignments. In this paper, we improve the accuracy of scan matching-based SLAM by applying accurate initial alignments calculated by global registration using measurements from LiDAR intensity and water puddles as features, which are often found in damaged nuclear power plants. Experiment results in the real environment show that the proposed method improved the accuracy of the map and the trajectory of the robot by taking advantage of these features observed from the environment into account.