Vision-Enhanced Lidar Odometry and Mapping

Vision-Enhanced Lidar Odometry and Mapping (VELO) is a new algorithm for simultaneous localization and mapping using a set of cameras and a lidar. By tightly coupling sparse visual odometry and lidar scanmatching, VELO is able to achieve reduced dri error compared to using either one or the other method. Moreover, the algorithm is capable of functioningwhen… (More)