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.
