Robust SRIF-based LiDAR-IMU Localization for Autonomous Vehicles
Kun Li Zhanpeng Ouyang Lan Hu Dayang Hao Laurent Kneip Kun Li Zhanpeng Ouyang Lan Hu Dayang Hao Laurent Kneip
We present a tightly-coupled multi-sensor fusion architecture for autonomous vehicle applications, which achieves centimetre-level accuracy and high robustness in various scenarios. In order to realize robust and accurate point-cloud feature matching we propose a novel method for extracting structural, highly discriminative features from LiDAR point clouds. For high frequency motion prediction and...