Autonomous driving paper index
Sensor fusion in autonomous vehicle using LiDAR and camera Sensor with Odometry
One-line summary
In this paper sensor fusion methodology along with odometry and motion estimation for autonomous vehicles (AVs) using Light Detection and Ranging (LiDAR) and camera is explored.
Engineering notes
Key topics: autonomous driving, autonomous vehicle, lidar, sensor fusion, kitti. See the paper for implementation details and experimental results.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
In this paper sensor fusion methodology along with odometry and motion estimation for autonomous vehicles (AVs) using Light Detection and Ranging (LiDAR) and camera is explored. Since during bad weather conditions, dim light or night time the sensor may not give very good readings, odometry can used in such situations. Odometry gives an estimation of change in position of given vehicle using data from sensors. The study also examines the impact of Extended Kalman Filter (EKF) to reduce error in position estimate of the vehicle both before and after using odometry through a KITTI data-set on vehicle motion.
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