Method for building map including point cloud using LiDAR

摘要

In a method for generating a map according to an embodiment of the present invention, the map generating apparatus compares a feature of the first point group measured at the first point with a feature of the second point group measured at the second point, and compares the feature from the first point. Estimating a trajectory (Odometry), which is a movement path to the second point, and the map generating device performing position transformation and rotation transformation on the second point group based on the trajectory to have the same coordinate system as the first point group And generating, by the map generating apparatus, a point group map by accumulating the second point group on the first point group by comparing the features of the clustered objects of the first point group with the features of the clustered objects of the second point group. The estimating of the trajectory may include calculating a curvature of all the points belonging to the second point group, and comparing the preset thresholds to the points belonging to the edges and planes. And classifying points into corners among the points belonging to the second point group are projected onto the line of the first point group, and the points belonging to the plane among the points belonging to the second point group to the plane of the first point group. The generating of the point group map may include removing the point group corresponding to the ground from the second point group.