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JRM Vol.35 No.6 pp. 1514-1523
doi: 10.20965/jrm.2023.p1514
(2023)

Development Report:

Experimental Study of Seamless Switch Between GNSS- and LiDAR-Based Self-Localization

Tadahiro Hasegawa, Haruki Miyoshi, and Shin’ichi Yuta

Shibaura Institute of Technology
3-7-5 Toyosu, Kohto-ku, Tokyo 135-8548, Japan

Received:
June 9, 2023
Accepted:
August 30, 2023
Published:
December 20, 2023
Keywords:
self-localization method, RTK-GNSS, NDT, 3D map building
Abstract

A self-localization method that can seamlessly switch positions and attitudes estimated using normal distributions transform (NDT) scan matching and a real-time kinematic global navigation satellite system (GNSS) is successfully developed. One of the issues encountered in this method is the sharing of global coordinates among the different estimation methods. Therefore, the three-dimensional environmental maps utilized in the NDT scan matching are created based on the planar Cartesian coordinate system used in the GNSS to obtain accurate information regarding the location, shape, and size of the actual terrain and geographic features. Consequently, seamlessly switching between different methods enables mobile robots to stably obtain accurate estimated positions and attitudes. An autonomous driving experiment is conducted using this self-localization method in the Tsukuba Challenge 2022, and the mobile robot completed a designated course involving more than 2 km in an urban area.

Autonomous driving around a station

Autonomous driving around a station

Cite this article as:
T. Hasegawa, H. Miyoshi, and S. Yuta, “Experimental Study of Seamless Switch Between GNSS- and LiDAR-Based Self-Localization,” J. Robot. Mechatron., Vol.35 No.6, pp. 1514-1523, 2023.
Data files:
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Last updated on Jul. 23, 2024