Research on Map Construction and Location Technology Based on Multi-line LiDAR

Point cloud registration is an important part of 3D point cloud map construction based on multi-line lidar. At present, traditional iterative nearest point algorithm (ICP) is mainly used for point cloud registration. For the traditional iterative nearest point algorithm, point cloud registration is time-consuming and error-prone, which leads to the low accuracy of point cloud registration. Based on the principle of traditional iterative nearest point algorithm, this paper proposes an improved ICP algorithm combining PL-ICP algorithm and PP-ICP algorithm. The map construction is realized by this method, and on the basis of the map construction, NDT algorithm is used to further realize the positioning of unmanned vehicles. The experimental results show that the method can effectively construct the point cloud image, reduce the registration time of point cloud, and has good registration accuracy. Through the validation of the dataset, the positioning experiment can be completed by randomly placing the unmanned vehicle in a certain position on the constructed map.