A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
Jiarong Lin,Xiyuan Liu,Fu Zhang,Jiarong Lin,Xiyuan Liu,Fu Zhang
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the harsh vehicle environment (e.g., temperature, vibration, etc.), or performance degradation due to the lack of sufficient geometry features, especially for solid-...
