ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-J08
会議情報

三次元点群の構築に向けた汎用GNSS/IMUを用いた位置/姿勢推定の高精度化に関する研究
*村山 響輝小椋 智目黒 淳一
著者情報
キーワード: GNSS, IMU, FGO, EKS
会議録・要旨集 認証あり

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抄録

In recent years, research on automatic driving using LiDAR and 3D point cloud maps with high-precision information on the road periphery has been active. However, the construction of high-precision 3D point clouds is costly and affected by the environment. Therefore, in this study, we proposed a position/attitude estimation method that applies EKS and FGO to improve the accuracy of position/attitude estimation using general-purpose GNSS/IMU through post-processing. From the evaluation test, it was confirmed that the method can construct a 3D point cloud with the same accuracy as that of a point cloud construction GNSS/IMU using multiple GNSS antennas by applying EKS and FGO.

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