Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
This paper describes a method of ego-motion estimation of a mobile robot using 2D-LiDAR in an orchard. The scan matching method is one of the methods for estimating the ego-motion using 2D-LiDAR. In an uneven environment such as an orchard, the same plane cannot always be observed, which may result in a loss of accuracy. On the other hand, the position of the tree trunk remains constant even if the plane of observation changes. Therefore, in this research, we use tree trunks as landmarks to estimate the ego-motion. In orchards, 2D-LiDAR detects not only tree trunks, but also tree branches, weeds, and the ground. We, therefore, remove them from 2D-LiDAR data to obtain the tree feature points. Then, we do matching points between previous and next frame to use congruence of triangles composed of feature points. After that, we estimate the ego-motion using the corresponding points by the least-squares method.
