3 GPS GPS error correction method by comparing 3D precision map in overlapping area

摘要

The present invention relates to a GPS error correction method through 3D precision map comparison in overlapping areas, and more particularly, to obtain raw data for use in HD-map for autonomous driving. In the process, if an overlapping area occurs on the GPS path, a correction value for the GPS error can be calculated by comparing the 3D precision map of the overlapping area. In particular, the present invention provides a three-dimensional point cloud obtained by using basically mounted LiDAR, Inertial Measurement Unit (IMU), etc. without using expensive equipment such as a plurality of high-precision GPS receivers or stereo cameras. By comparing the data, it is possible to calculate an accurate correction value for the GPS error. In addition, in the process of comparing the 3D point cloud data of the overlapping region, the present invention can calculate a correction value that can quickly and reliably guarantee accuracy by removing the floor surface or noise and comparing meaningful objects as a center. . Accordingly, reliability and competitiveness can be improved in the field of autonomous driving, road recognition, and high-precision road map for autonomous driving, as well as similar or related fields.