Paper Title
Proposal of Estimation Method Using the Absolute Angle of a Geomagnetic Sensor for Instability of Distance Information of Lidar Caused by Moving and Vibrating Objects

In this paper, we propose a method to improve the strength by using a geomagnetic sensor to perform self-angle estimation using moving objects such as wall and a vibrating object such as human or trees trembling by wind more stably. LIDAR sensor used time of flight information of laser to measure the distance from the target, the micro or Nano second-order time difference would be disturbed by a few physical factors - sensor movement/vibration, target shape complexity, and target movement/vibration. Therefore, the angle estimation is easily disturbed for the features of moving objects and vibrating objects. This is a problem that inevitably occurs in the measurement principle of LIDAR. For this reason, it is necessary to strengthen the angle estimation using not only LIDAR but also a sensor that gives auxiliary information at the time of angle estimation. We focused on geomagnetic sensors that can obtain absolute angles among sensors that can get angle information.We propose a robust angle estimation method using the angle information of the geomagnetic sensor as auxiliary information for localization by LIDAR. The experimental result of experiment 1 shows that even if the object was straight shape board, there was a directional dependence of object movement for angle estimation based on the ICP algorithm. There was a significant effect to (B) back direction movement, and it was related to reducing the measurement points of the LIDAR.However, the proposed method can reduce the self-angle estimation error in all directions by more than 95.62%. In the case of vibration object made with green ribbons, the proposed method was able to follow the angle change and the estimated angle also changed, enabling stable angle estimation. And, the proposed method can reduce the self-angle estimation error in all directions by more than 99.75%. Our experimental result shows that there is a weak direction to move the LIDAR sensor itself, and it is a complicated process to estimate the rotation angle by ICP when the object is vibrating or moving. However, stable estimation was made possible by using a geomagnetic sensor to assist in angle estimation. Keywords - Geomagnetic Sensor,Icpalgorithm, Lidar,Moving and Vibrating Object.