GR-Fusion: Multi-sensor Fusion SLAM for Ground Robots with High Robustness and Low Drift
Ting Wang,Yun Su,Shiliang Shao,Chen Yao,Zhidong Wang,Ting Wang,Yun Su,Shiliang Shao,Chen Yao,Zhidong Wang
This paper presents a tightly coupled pipeline, which efficiently fuses measurements of LiDAR, camera, IMU, encoder, and GNSS to estimate the robot state and build a map even in challenging situations. The depth of visual features is extracted by projecting the LiDAR point cloud and ground plane into image. We select the tracked high-quality visual features and LiDAR features and tightly coupled t...
