林業における自動走行のための反射強度を用いたスキャンマッチングによる自己位置推定

抄録

In forestry, it is demanded for work vehicles such as forwarders to drive automatically on forest work road, however, devices for self-localization like GNSS and wheel encoder are difficult to use due to its blocked environment. In this study, we propose a method for self-localization in forestry environments. Our method is based on the NDT scan matching that is simplified for real-time computation. Furthermore, it improves the localization accuracy by utilizing reflection intensity of LiDAR to remove environmentaldisturbing objects likeleaves that cause miss matching due to seasonal changes. In the experiment, we verified the self-localization performance of our proposed method in an environment assuming a forest work road.