A Scalable Framework for Robust Vehicle State Estimation with a Fusion of a Low-Cost IMU, the GNSS, Radar, a Camera and Lidar
Yuran Liang,Steffen Müller,Daniel Schwendner,Daniel Rolle,Dieter Ganesch,Immanuel Schaffer,Yuran Liang,Steffen Müller,Daniel Schwendner,Daniel Rolle,Dieter Ganesch,Immanuel Schaffer
Automated driving requires highly precise and robust vehicle state estimation for its environmental perception, motion planning and control functions. Using GPS and environmental sensors can compensate for the deficits of the estimation based on traditional vehicle dynamics sensors. However, each type of sensor has specific strengths and limitations in accuracy and robustness due to their differen...
