建設機械の位置推定のための環境設置型Lidarのキャリブレーション手法

抄録

Position estimation of construction machinery is one of the important issues to realize the automation of civil engineering work in various environments. A position estimation method using LiDAR placed in multiple environments has been proposed. However, when installing LiDAR in an environment, it is difficult to accurately grasp its position and posture, and currently manual adjustments are being made, which may cause variations in accuracy depending on the person, and it is troublesome to install. There is a problem such as taking. In this research, we investigated a method for automatic calibration by using only the estimated position of the construction machine recognized by each LiDAR placed in the environment based on the matching with the 3D model.