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One of the most famous technologies for the autonomous vehicle was using a scan matching algorithm, in which a high-definition 3D map created by the LIDAR sensor plays a significantly important role in localizing and path planning. Within this manuscript, a novel way of finding the effect from the Inertial Measurement Unit (IMU) on creating a high-definition 3D map from the LIDAR sensor was investigated. The collection data system was first ever created and collected in Vietnam. The results show that the normal distributions transform shows very good performance for creating the HD 3D map with have IMU sensor. On the other hand, without IMU the accuracy and the robustness of the creating map were reduced especially in the non-flat area. This manuscript will start the evolution of preparation for autonomous vehicles in Vietnam as well as contribute to the autonomous vehicle research society in the world.

Effect of Inertial Measurement Unit on Creating High-Definition 3D Map for Autonomous Vehicle