Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps
Liangliang Pan Kaijin Ji Ji Zhao Liangliang Pan Kaijin Ji Ji Zhao
Robust and accurate pose estimation in long-term localization is crucial to autonomous driving. In this paper, we dealt with absolute localization with a LiDAR feature map and multi-sensor measurements. We proposed a tightly-coupled fusion method with fixed-lag smoothing. A sliding window of recently maintained states is estimated by minimizing a joint cost function. This cost function includes re...