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 ...
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...
Autonomous Vehicles Sideslip Angle Estimation: Single Antenna GNSS/IMU Fusion with Observability Analysis 2021, IEEE Internet of Things Journal Advancing Estimation Accuracy of Sideslip Angle by Fusing Vehicle Kinematics and Dynamics Information with Fuzzy Logic 2021, IEEE Transactions on Vehicular Technology...
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
OpenCalib:用于自动驾驶的多传感器校准工具箱(OpenCalib: A Multi-sensor Calibration Toolbox for AutonomousDriving).pdf,OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving Guohang Yan , Liu Zhuochun , Chengjie Wang , Chunlei Shi , Pengjin W
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...
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 ...
Since different sensors have their advantages and shortcomings, fusing multiple heterogeneous sensors becomes the key to robust and accurate perception and localization ability. However, these sensors are not naturally located in the same spatial space, so an accurate calibration is essential to determine...
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 ...
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