S151011 Decrease of Accumulated Position Error by ICP Algorithm

This paper describes decrease method of accumulated position error by ICP algorithm. A position estimation method by ICP algorithm was already proposed. However, all the points cannot be matched without the error. Therefore, a lot of matching errors accumulate if the cycle of position estimation is fast. On the other hand, some miss-matching occur if the cycle of position estimation is too slow. So, this paper proposes the method that decides timing of the position estimation based on the center of gravity of the detection points of the obstacles. As a result, accumulation error can be decreased, because the proposed method estimate the position if necessary. The effectiveness of the proposed method was confirmed by the experiments.