Development of Occupancy Grid Map Making Method Based on DGPS Measurement Data Extracted by Accuracy Evaluation

Abstract

This paper describes a map-making method on position estimation based on scan-matching by using a laser scanner and a GPS device. In outdoor environment such as city areas, high-accuracy positioning on a map is required for achievement of autonomous navigation. However, mis-matching on the map sometimes occurs, and consequently a robot loses its own position. Although a GPS device, one of an absolute positioning device, is valid to estimate the position and attitude in certain accuracy, it often obtains error positions on multi-path problem which is occurred near by high-building. In order to autonomously generate an accurate map, the authors have developed a method of estimating the own accurate positions on a GPS device, referring to the own relative positions on scan-matching by using a laser scanner. Namely, the accurate map on grid is generated by precise structure information of the surrounding based on some accurate global positions. In this paper, performance of the map-making method is shown by experimental results which are evaluated on accuracy of the map on an actual environment.