| Budget Amount *help |
¥16,250,000 (Direct Cost: ¥12,500,000、Indirect Cost: ¥3,750,000)
Fiscal Year 2018: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2017: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
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| Outline of Final Research Achievements |
An integration method of 3D-GNSS, IMU, and Vision sensor was developed in this research. This method has been proved to achieve 1.5m for positioning accuracy in urban canyon. Positioning method under the bridge of Metropolitan Expressway was developed. In this scenario, GNSS is invisible and face the difficulty of localization because of monotonous scape of the structures.
Automated method for map creation was developed with automated alignment method of SLAM data to airborne images. Such the created digital map achieved 25cm level accuracy in absolute coordinate. Finally, we proposed the specific vector data format of the digital map for autonomous driving, and proved that it maintain the equivalent accuracy of localization compared with the case employing point cloud data format.
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