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NDT를 이용한 실내 Tractor-Trailer 자동 주차 알고리즘 개발
신희석(Heeseok Shin),장성빈(Sung Been Jang),장재익(Jeaik Jang),김현우(Hyunwoo Kim),최윤중(YunJung Choi),김정하(Jung-Ha Kim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
This paper is about automatically parking indoors through localization using LiDAR in an indoor where GPS is not received. The indoor localization method used the NDT algorithm, and the hitch angle of the trailer was detected using the camera. The position of the tractor was detected using the NDT algorithm, and the position and angle of the trailer were calculated by applying the trailer model based on the hitch angle detected by the camera. The trailer was parked in the designated parking space by following the finally created path.