TY - GEN
T1 - Performance Analysis of 3D NDT Scan Matching for Autonomous Vehicles Using INS/GNSS/3D LiDAR-SLAM Integration Scheme
AU - Srinara, Surachet
AU - Lee, Chi Ming
AU - Tsai, Syun
AU - Tsai, Guang Je
AU - Chiang, Kai Wei
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by National Land Surveying and Mapping Center, ROC (Taiwan) under Grant No. NLSC-109-13.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/22
Y1 - 2021/3/22
N2 - Because robustness and accuracy of localization are crucial for autonomous driving applications. Using the conventional integration scheme of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS), pose estimation error can drift and accumulate with time, especially in GNSS challenging environment and in unknown environment where an existing map has not been constructed. In this paper, in term of using multi-sensor fusion for improving the positioning accuracy, we proposed a localization method that is based on LiDAR-based 3D Normal Distribution Transform (NDT) scan matching with an INS/GNSS integration scheme. As the experimental results, our proposed method showed a statistical improvement over the state of the art INS/GNSS integration scheme.
AB - Because robustness and accuracy of localization are crucial for autonomous driving applications. Using the conventional integration scheme of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS), pose estimation error can drift and accumulate with time, especially in GNSS challenging environment and in unknown environment where an existing map has not been constructed. In this paper, in term of using multi-sensor fusion for improving the positioning accuracy, we proposed a localization method that is based on LiDAR-based 3D Normal Distribution Transform (NDT) scan matching with an INS/GNSS integration scheme. As the experimental results, our proposed method showed a statistical improvement over the state of the art INS/GNSS integration scheme.
UR - http://www.scopus.com/inward/record.url?scp=85107599906&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85107599906&partnerID=8YFLogxK
U2 - 10.1109/INERTIAL51137.2021.9430476
DO - 10.1109/INERTIAL51137.2021.9430476
M3 - Conference contribution
AN - SCOPUS:85107599906
T3 - INERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
BT - INERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Symposium on Inertial Sensors and Systems, INERTIAL 2021
Y2 - 22 March 2021 through 25 March 2021
ER -