3D LiDAR-based Localization of Autonomous Mobile Robot based on 3D Point Cloud Generated by Structure from Motion using Aerial photos

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  • ドローンによる空撮画像から三次元復元した点群地図を用いた自律移動ロボットの自己位置推定

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<p>This paper presents a rapid mapping method for outdoor mobile robot localization using aerial photos taken by a drone. The map is generated as a 3D point cloud constructed by SfM and MVS using multiple pictures taken by the drone camera. An autonomous vehicle equipped with 3D-LiDAR localizes its position and orientation using the NDT (Normal Distribution Transform). Outdoor experiments revealed that NDT works with matching the 3D point cloud from different sensors; camera and LiDAR. Accuracy and precision were compared by different altitudes of the drone where the pictures were taken.</p>

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