Effect of Inertial Measurement Unit on Creating High-Definition 3D Map for Autonomous Vehicle
Main Article Content
Abstract
One of the most famous technology for the autonomous vehicle was using a scan matching algorithm, in which a high definition 3D map created by the lidar sensor plays a significantly important role in localizing and path planning. Within this manuscript, a novel of finding the effect from the Inertial Measurement Unit (IMU) on creating a high definition 3D map from the lidar sensor was investigated. The collection data system was first ever created and collected in Vietnam. The results showing that the normal distributions transform shows very good performance for creating the HD 3D map with have IMU sensor. On the other hand, without IMU the accuracy and the robustness of the creating map were reduced especially in the non-flat area. This manuscript will start the evolution of preparation for autonomous vehicles in Vietnam as well as contribute to the autonomous vehicle research society in the world.
Keywords
HD map, Autonomous vehicle, IMU
Article Details
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
References
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[12] E. Takeuchi and T. Tsubouchi, A 3-D scan matching using improved 3-D normal distributions transform for mobile robotic mapping, in IEEE International Conference on Intelligent Robots and Systems, 2006, https://doi.org/10.1109/IROS.2006.282246
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[14] H. G. Seif and X. Hu, Autonomous Driving in the iCity—HD Maps as a Key Challenge of the Automotive Industry, Engineering, vol. 2, no. 2, pp. 159–162, 2016. https://doi.org/10.1016/J.ENG.2016.02.010
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[16] A. Ndjeng Ndjeng, D. Gruyer, S. Glaser, and A. Lambert, Low cost IMU-Odometer-GPS ego localization for unusual maneuvers, Inf. Fusion, vol. 12, no. 4, pp. 264–274, 2011. https://doi.org/10.1016/j.inffus.2010.06.006
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