Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases
Jie Yin,Ang Li,Wei Xi,Wenxian Yu,Danping Zou,Jie Yin,Ang Li,Wei Xi,Wenxian Yu,Danping Zou
We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense color mapping, and robust localization in diverse environments. We tightly integrate RGB-D images, inertial measurements, wheel odometer and GNSS signals within a ...
