Development of a Self-localization Technology Using MEMS Mirror Type LiDAR

DOI
  • Kato Masahiro
    パイオニアスマートセンシングイノベーションズ（株）
  • Iwai Tomoaki
    パイオニアスマートセンシングイノベーションズ（株）
  • Oyama Kazuki
    パイオニアスマートセンシングイノベーションズ（株）
  • Suzuki Masami
    パイオニアスマートセンシングイノベーションズ（株）

Bibliographic Information

Other Title
  • MEMSミラー型LiDARを用いた自己位置推定技術の開発

Description

We studied a self-localization technology of vehicle using the developed MEMS mirror type LiDAR. In data processing, we perform the movement correction within a LiDAR frame and the integration of multiple LiDARs. In NDT scan matching calculation, we perform ND map creation and LiDAR data down sampling using reflection intensity information. Results of experiments on general roads showed accuracy within 15cm in the direction of longitudinal, lateral and altitudinal. As a result, we confirmed that highly accurate self-localization can be realized by using above technologies.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390283659845710208
  • NII Article ID
    130007789888
  • DOI
    10.11351/jsaeronbun.51.232
  • ISSN
    18830811
    02878321
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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