We focus on LiDAR to complete this process in ground robots traveling on complex terrain by proposing GR-LOAM, a method to estimate robot ego-motion by fusing LiDAR, inertial measurement unit (IMU), and encoder measurements in a tightly coupled scheme. First, we derive a odometer increment ...
FAST-LIO-Multi-Sensor-Fusion Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM Fusing GNSS measurement and support GNSS heading auto-initialization. Fusing wheel measurement and support the estimation of wheel extrinsic parameters and wheel scale factor meanwhile. Tested on the Kaist Comp...
FAST-LIO-Multi-Sensor-Fusion Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM Fusing GNSS measurement and support GNSS heading auto-initialization. Fusing wheel measurement and support the estimation of wheel extrinsic parameters and wheel scale factor meanwhile. Tested on the Kaist Comp...
Our state estimation module can be applied to LiDARs with different scanning types. Finally, we use a back-end fusion optimization module based on pose graph optimization (PGO). We correct drift error and generate globally consistent localization trajectory by introducing the odometry factor, loop ...
However, each of these suffers from some inherent drawbacks, such as high sensitivity to changes in illumination conditions in the case of cameras and limited resolution for the LiDARs. Sensor fusion can be used to combine the merits and compensate for the downsides of these two kinds of ...
7. Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion 8. Non-Parametric Mixed-Manifold Products Using Multiscale Kernel Densities 9. Visual-Inertial Localization with Prior LiDAR Map Constraints 10. Fusing Lidar Data and Aerial Imagery with Perspective Correction for Precise Locali...
sensorfusion,objecttracking,activecontours,levelset,infraredimages.I.INTRODUCTIONInrealworldmonitoringtasks,persistentmovingobjectdetectionandtrackingremainsachallengingproblemduetocomplexscenes,lightingconditions,environ-mentalvariables(particularlyinoutdoorsettingswithweather),clutter,noise,andocclusions.Fusingsceneinformation...
Fusing wheel measurement and support the estimation of wheel extrinsic parameters and wheel scale factor meanwhile. Tested on the Kaist Complex Urban Dataset. Related paper and codes: GNSS data handling part refers toFAST_LIO_SAM. Wheel fusion part refers toVehicle-Motion-Constraint-Based Visual-Iner...
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mappi
Aspects described herein provide sensor data stream processing for enabling camera/radar sensor fusion, with application to road user detection in the context of Autonomous Driving/