Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
In the field of RTK-GNSS positioning technology, the occurrence of MISSFIX, a failure in determining confidence, poses a significant challenge. In this report, we present a novel approach to detecting MISSFIX by analyzing the shape features of the surrounding environment using GPS position information and 3D point clouds obtained from Lidar measurements. The proposed method utilizes persistent homology to extract features of the 3D environment reconstructed from 3D-Lidar point clouds. To identify situations in which GNSS position measurement errors occur, we introduce a method for determining GNSS measurement errors by comparing the features of the 3D point cloud recovered via odometry with those recovered from GNSS positions. This method has been demonstrated to be effective.
