Snow Depth Mapping by Scan Matching Using 3D-LiDAR in Snowy Environments

Abstract

In recent years, development toward fully automated driving has been underway. In order to realize fully automated driving of automobiles, it is necessary to understand the surrounding conditions, and in snowy areas such as Toyama Prefecture, it is necessary to understand the depth of snow accumulation. Therefore, the LiDAR used for fully automated driving of automobiles is operated as a snow depth gauge, and by having each automobile measure the amount of snow cover, an environmental map is also created at the same time. In addition, self-position estimation is also performed simultaneously with the creation of the environmental map, and the results are intended to be reflected in automatic driving.