Position estimation of landmark using 3D point cloud and trilateration method

We demonstrate the appropriacy of using laser distance meter as the accurate, cost-effective, simple solution for position estimation within precise 3D point cloud map in urban environment scenario. Our approach treats trilateration method with minimum error selection algorithm for better position accuracy of landmark. We validate the performance of our approach through 22 landmarks measured using RTK GPS for error analysis of proposed position estimation method based on trilateration.