FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4366504120> ?p ?o ?g. }

• W4366504120 endingPage "3493" @default.
• W4366504120 startingPage "3486" @default.
• W4366504120 abstract "LiDAR SLAM has become one of the major localization systems for ground vehicles since LiDAR Odometry And Mapping (LOAM). Many extension works on LOAM mainly leverage one specific constraint to improve the performance, e.g., information from on-board sensors such as loop closure and inertial state; prior conditions such as ground level and motion dynamics. In many robotic applications, these conditions are often known partially, hence a SLAM system can be a comprehensive problem due to the existence of numerous constraints. Therefore, we can achieve a better SLAM result by fusing them properly. In this letter, we propose a hybrid LiDAR-inertial SLAM framework that leverages both the on-board perception system and prior information such as motion dynamics to improve localization performance. In particular, we consider the case for ground vehicles, which are commonly used for autonomous driving and warehouse logistics. We present a computationally efficient LiDAR-inertial odometry method that directly parameterizes ground vehicle poses on SE(2). The out-of-SE(2) motion perturbations are not neglected but incorporated into an integrated noise term of a novel SE(2)-constraints model. For odometric measurement processing, we propose a versatile, tightly coupled LiDAR-inertial odometry to achieve better pose estimation than traditional LiDAR odometry. Thorough experiments are performed to evaluate our proposed method's performance in different scenarios, including localization for both indoor and outdoor environments. The proposed method achieves superior performance in accuracy and robustness." @default.
• W4366504120 created "2023-04-22" @default.
• W4366504120 creator A5017749211 @default.
• W4366504120 creator A5025626208 @default.
• W4366504120 creator A5038321234 @default.
• W4366504120 creator A5058534118 @default.
• W4366504120 date "2023-06-01" @default.
• W4366504120 modified "2023-09-27" @default.
• W4366504120 title "Versatile LiDAR-Inertial Odometry With SE(2) Constraints for Ground Vehicles" @default.
• W4366504120 cites W1981699551 @default.
• W4366504120 cites W2021851106 @default.
• W4366504120 cites W2139137304 @default.
• W4366504120 cites W2214788824 @default.
• W4366504120 cites W2296228853 @default.
• W4366504120 cites W2336416123 @default.
• W4366504120 cites W2411093439 @default.
• W4366504120 cites W2482726005 @default.
• W4366504120 cites W2564632156 @default.
• W4366504120 cites W2587415290 @default.
• W4366504120 cites W2736960679 @default.
• W4366504120 cites W2745007981 @default.
• W4366504120 cites W2745859992 @default.
• W4366504120 cites W2801403503 @default.
• W4366504120 cites W2909908358 @default.
• W4366504120 cites W2938818630 @default.
• W4366504120 cites W2968618084 @default.
• W4366504120 cites W3015235064 @default.
• W4366504120 cites W3089503906 @default.
• W4366504120 cites W3102431786 @default.
• W4366504120 cites W3129245057 @default.
• W4366504120 cites W3165610079 @default.
• W4366504120 cites W3205084628 @default.
• W4366504120 cites W3207941059 @default.
• W4366504120 cites W4205574455 @default.
• W4366504120 cites W4312776746 @default.
• W4366504120 cites W570692787 @default.
• W4366504120 doi "https://doi.org/10.1109/lra.2023.3268584" @default.
• W4366504120 hasPublicationYear "2023" @default.
• W4366504120 type Work @default.
• W4366504120 citedByCount "0" @default.
• W4366504120 crossrefType "journal-article" @default.
• W4366504120 hasAuthorship W4366504120A5017749211 @default.
• W4366504120 hasAuthorship W4366504120A5025626208 @default.
• W4366504120 hasAuthorship W4366504120A5038321234 @default.
• W4366504120 hasAuthorship W4366504120A5058534118 @default.
• W4366504120 hasConcept C104317684 @default.
• W4366504120 hasConcept C121332964 @default.
• W4366504120 hasConcept C153083717 @default.
• W4366504120 hasConcept C154945302 @default.
• W4366504120 hasConcept C173386949 @default.
• W4366504120 hasConcept C185592680 @default.
• W4366504120 hasConcept C19966478 @default.
• W4366504120 hasConcept C205649164 @default.
• W4366504120 hasConcept C31972630 @default.
• W4366504120 hasConcept C41008148 @default.
• W4366504120 hasConcept C49441653 @default.
• W4366504120 hasConcept C51399673 @default.
• W4366504120 hasConcept C55493867 @default.
• W4366504120 hasConcept C62520636 @default.
• W4366504120 hasConcept C62649853 @default.
• W4366504120 hasConcept C63479239 @default.
• W4366504120 hasConcept C79061980 @default.
• W4366504120 hasConcept C86369673 @default.
• W4366504120 hasConcept C90509273 @default.
• W4366504120 hasConceptScore W4366504120C104317684 @default.
• W4366504120 hasConceptScore W4366504120C121332964 @default.
• W4366504120 hasConceptScore W4366504120C153083717 @default.
• W4366504120 hasConceptScore W4366504120C154945302 @default.
• W4366504120 hasConceptScore W4366504120C173386949 @default.
• W4366504120 hasConceptScore W4366504120C185592680 @default.
• W4366504120 hasConceptScore W4366504120C19966478 @default.
• W4366504120 hasConceptScore W4366504120C205649164 @default.
• W4366504120 hasConceptScore W4366504120C31972630 @default.
• W4366504120 hasConceptScore W4366504120C41008148 @default.
• W4366504120 hasConceptScore W4366504120C49441653 @default.
• W4366504120 hasConceptScore W4366504120C51399673 @default.
• W4366504120 hasConceptScore W4366504120C55493867 @default.
• W4366504120 hasConceptScore W4366504120C62520636 @default.
• W4366504120 hasConceptScore W4366504120C62649853 @default.
• W4366504120 hasConceptScore W4366504120C63479239 @default.
• W4366504120 hasConceptScore W4366504120C79061980 @default.
• W4366504120 hasConceptScore W4366504120C86369673 @default.
• W4366504120 hasConceptScore W4366504120C90509273 @default.
• W4366504120 hasIssue "6" @default.
• W4366504120 hasLocation W43665041201 @default.
• W4366504120 hasOpenAccess W4366504120 @default.
• W4366504120 hasPrimaryLocation W43665041201 @default.
• W4366504120 hasRelatedWork W2060890775 @default.
• W4366504120 hasRelatedWork W2116298349 @default.
• W4366504120 hasRelatedWork W2554592351 @default.
• W4366504120 hasRelatedWork W2586572282 @default.
• W4366504120 hasRelatedWork W2734306012 @default.
• W4366504120 hasRelatedWork W2890689110 @default.
• W4366504120 hasRelatedWork W2980357211 @default.
• W4366504120 hasRelatedWork W3006502707 @default.
• W4366504120 hasRelatedWork W3019330256 @default.
• W4366504120 hasRelatedWork W3162073984 @default.
• W4366504120 hasVolume "8" @default.

• next