Possibility of 3D environmental map building by backpack-type gait measurement

Abstract

We have experimentally verified the possibility of building a 3D environmental map using a backpack-type gait measurement equipped with RTK-GNSS, IMU, and 3D LiDAR. The sensor data was recorded while the measurer carried the backpack equipped with sensors and walked around. After the measurement, the position and orientation of 3D LiDAR were accurately estimated from RTK-GNSS and IMU data. The point cloud data acquired from 3D LiDAR was then transformed into coordinates based on the self-localization, and a 3D environmental map was successfully created. The experimental results showed that this map building method can build a 3D environmental map even under a gait measurement situation with the swing. This method is expected to be applied to mountainous areas where it is difficult for vehicles to travel.