首页|Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration
Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration
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原文链接
NETL
NSTL
万方数据
维普
To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile platform.Calibration is a time-consuming process,and mechanical distortion will cause extrinsic calibration errors.Therefore,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic calibration.In the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different frequencies.In nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic calibration.Extensive experiments were carried out on both public datasets and real-world scenarios.Results indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.
NETL
NSTL
万方数据
维普
