Visual-Inertial Localization With Prior LiDAR Map Constraints
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2927123
Abstract: In this letter, we develop a low-cost stereo visual-inertial localization system, which leverages efficient multi-state constraint Kalman filter (MSCKF)-based visual-inertial odometry (VIO) while utilizing an a priori LiDAR map to provide bounded-error three-dimensional navigation. Besides… read more here.
Keywords: prior lidar; map constraints; inertial localization; visual inertial ... See more keywords
OpenStreetMap-Based LiDAR Global Localization in Urban Environment Without a Prior LiDAR Map
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3152476
Abstract: Using publicly accessible maps, we propose a novel vehicle localization method that can be applied without using prior light detection and ranging (LiDAR) maps. Our method generates OSM descriptors by calculating the distances to buildings… read more here.
Keywords: localization; lidar map; vehicle localization; prior lidar ... See more keywords