3D PCD map creation for LiDAR localization using a spherical camera

This paper proposes a method for creating a 3D PCD map using the spherical camera to utilize it for the LiDAR self-localization of the AMR. Usually, the LiDAR on the AMR is utilized for the map creation, but it requires some process with moving the big AMR itself. This paper attempts to simplify this process by replacing the scanning device with a small spherical camera. Finally, a map creating method is established using OpenVSLAM, and automated driving is demonstrated based on the map obtained from this method.