A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

Abstract

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle… (More)
DOI: 10.3390/s17092140

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