NDT スキャンマッチングに基づく車載レーザスキャナ観測点群の高精度マッピング

抄録

This paper presents a method of accurately refining 3D laser scan data from in-vehicle multilayer laser scanner. The vehicle estimates its own 3D pose (position and attitude) based on Normal-Distributions-Transform (NDT) scan-matching method. Based on the pose information, the vehicle pose when the laser scan data is captured is extrapolated and interpolated under the assumption that the vehicle moves at an almost constant linear and turning velocities. The extrapolated and interpolated pose of the vehicle is applied to mapping laser scan data into the voxel map represented on the world coordinate frame. Subsequently, the vehicle again estimates its own 3D pose based on NDT scan matching. Such an iteration enable to compensate the distortion of laser scan date and to accurately map the data on the world coordinate frame. Experimental results show the performance of the proposed method.