マッチングの信頼性から見た三次元点群を活用した位置推定の誤差傾向の解析

抄録

In recent years, automatic driving has been attracting attention, and various companies and institutions have been actively conducting research. In particular, Localization technology using 3D point cloud map and LiDAR (Light Detection and Ranging) has attracted much attention. However, it is known that localization using 3D point cloud map and LiDAR may cause misconvergence and increase of localization error when the terrain has no feature or similarity.

Therefore, it is important to guarantee the accuracy of localizations and 3D point cloud maps. In this study, we propose a new method to analyze the error tendency of localization using 3D point clouds from the viewpoint of the reliability of matching, and analyze the error characteristics of localization under typical environments where localization is often failed. The purpose of this paper is to analyze the error characteristics of localization in typical environments where localization tends to fail.