Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method
Yupeng Jia,Haiyong Luo,Fang Zhao,Guanlin Jiang,Yuhang Li,Jiaquan Yan,Zhuqing Jiang,Zitian Wang,Yupeng Jia,Haiyong Luo,Fang Zhao,Guanlin Jiang,Yuhang Li,Jiaquan Yan,Zhuqing Jiang,Zitian Wang
State estimation with sensors is essential for mobile robots. Due to different performance of sensors in different environments, how to fuse measurements of various sensors is a problem. In this paper, we propose a tightly coupled multi-sensor fusion framework, Lvio-Fusion, which fuses stereo camera, Lidar, IMU, and GPS based on the graph optimization. Especially for urban traffic scenes, we intro...
