Position and attitude estimation of a vehicle using laser scanner in the obstacle environment

Laser scanner provides very accurate distance information up to around landmark from the sensor. It is possible to estimate the position and orientation relative to the drive from the surrounding landmarks that are recognized by utilizing these points of the laser scanner. In this paper, after setting arbitrarily the environment of the obstacle, we performed the simulation of the position and attitude estimation of the vehicle by generating the laser scanner data. At the simulation result, position error was within 3m, attitude error was revealed in 10 degrees or less.