LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes
Wendong Ding,Shenhua Hou,Hang Gao,Guowei Wan,Shiyu Song,Wendong Ding,Shenhua Hou,Hang Gao,Guowei Wan,Shiyu Song
Environmental fluctuations pose crucial challenges to a localization system in autonomous driving. We present a robust LiDAR localization system that maintains its kinematic estimation in changing urban scenarios by using a dead reckoning solution implemented through a LiDAR inertial odometry. Our localization framework jointly uses information from complementary modalities such as global matching...
