Matches in SemOpenAlex for { <https://semopenalex.org/work/W4309086345> ?p ?o ?g. }
Showing items 1 to 80 of
80
with 100 items per page.
- W4309086345 abstract "State estimation with sensors is essential for mobile robots. Due to different performance of sensors in different environments, how to fuse measurements of various sensors is a problem. In this paper, we propose a tightly coupled multi-sensor fusion framework, Lvio-Fusion, which fuses stereo camera, Lidar, IMU, and GPS based on the graph optimization. Especially for urban traffic scenes, we introduce a segmented global pose graph optimization with GPS and loop-closure, which can eliminate accumulated drifts. Additionally, we creatively use a actor-critic method in reinforcement learning to adaptively adjust sensors' weight. After training, actor-critic agent can provide the system better and dynamic sensors' weight. We evaluate the performance of our system on public datasets and compare it with other state-of-the-art methods, which shows that the proposed method achieves high estimation accuracy and robustness to various environments. And our implementations are open source and highly scalable." @default.
- W4309086345 created "2022-11-21" @default.
- W4309086345 creator A5002774811 @default.
- W4309086345 creator A5008135430 @default.
- W4309086345 creator A5025147842 @default.
- W4309086345 creator A5034852420 @default.
- W4309086345 creator A5049030422 @default.
- W4309086345 creator A5052635380 @default.
- W4309086345 creator A5065392880 @default.
- W4309086345 creator A5077789495 @default.
- W4309086345 date "2021-06-12" @default.
- W4309086345 modified "2023-10-01" @default.
- W4309086345 title "Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method" @default.
- W4309086345 doi "https://doi.org/10.48550/arxiv.2106.06783" @default.
- W4309086345 hasPublicationYear "2021" @default.
- W4309086345 type Work @default.
- W4309086345 citedByCount "0" @default.
- W4309086345 crossrefType "posted-content" @default.
- W4309086345 hasAuthorship W4309086345A5002774811 @default.
- W4309086345 hasAuthorship W4309086345A5008135430 @default.
- W4309086345 hasAuthorship W4309086345A5025147842 @default.
- W4309086345 hasAuthorship W4309086345A5034852420 @default.
- W4309086345 hasAuthorship W4309086345A5049030422 @default.
- W4309086345 hasAuthorship W4309086345A5052635380 @default.
- W4309086345 hasAuthorship W4309086345A5065392880 @default.
- W4309086345 hasAuthorship W4309086345A5077789495 @default.
- W4309086345 hasBestOaLocation W43090863451 @default.
- W4309086345 hasConcept C104317684 @default.
- W4309086345 hasConcept C154945302 @default.
- W4309086345 hasConcept C185592680 @default.
- W4309086345 hasConcept C19966478 @default.
- W4309086345 hasConcept C31972630 @default.
- W4309086345 hasConcept C33954974 @default.
- W4309086345 hasConcept C41008148 @default.
- W4309086345 hasConcept C48044578 @default.
- W4309086345 hasConcept C55493867 @default.
- W4309086345 hasConcept C60229501 @default.
- W4309086345 hasConcept C63479239 @default.
- W4309086345 hasConcept C76155785 @default.
- W4309086345 hasConcept C77088390 @default.
- W4309086345 hasConcept C79061980 @default.
- W4309086345 hasConcept C79403827 @default.
- W4309086345 hasConcept C86369673 @default.
- W4309086345 hasConcept C90509273 @default.
- W4309086345 hasConcept C97541855 @default.
- W4309086345 hasConceptScore W4309086345C104317684 @default.
- W4309086345 hasConceptScore W4309086345C154945302 @default.
- W4309086345 hasConceptScore W4309086345C185592680 @default.
- W4309086345 hasConceptScore W4309086345C19966478 @default.
- W4309086345 hasConceptScore W4309086345C31972630 @default.
- W4309086345 hasConceptScore W4309086345C33954974 @default.
- W4309086345 hasConceptScore W4309086345C41008148 @default.
- W4309086345 hasConceptScore W4309086345C48044578 @default.
- W4309086345 hasConceptScore W4309086345C55493867 @default.
- W4309086345 hasConceptScore W4309086345C60229501 @default.
- W4309086345 hasConceptScore W4309086345C63479239 @default.
- W4309086345 hasConceptScore W4309086345C76155785 @default.
- W4309086345 hasConceptScore W4309086345C77088390 @default.
- W4309086345 hasConceptScore W4309086345C79061980 @default.
- W4309086345 hasConceptScore W4309086345C79403827 @default.
- W4309086345 hasConceptScore W4309086345C86369673 @default.
- W4309086345 hasConceptScore W4309086345C90509273 @default.
- W4309086345 hasConceptScore W4309086345C97541855 @default.
- W4309086345 hasLocation W43090863451 @default.
- W4309086345 hasLocation W43090863452 @default.
- W4309086345 hasOpenAccess W4309086345 @default.
- W4309086345 hasPrimaryLocation W43090863451 @default.
- W4309086345 hasRelatedWork W1671566079 @default.
- W4309086345 hasRelatedWork W2028864324 @default.
- W4309086345 hasRelatedWork W2058063222 @default.
- W4309086345 hasRelatedWork W2134943711 @default.
- W4309086345 hasRelatedWork W2734306012 @default.
- W4309086345 hasRelatedWork W2921707373 @default.
- W4309086345 hasRelatedWork W2980357211 @default.
- W4309086345 hasRelatedWork W3003695190 @default.
- W4309086345 hasRelatedWork W4312397549 @default.
- W4309086345 hasRelatedWork W4383748483 @default.
- W4309086345 isParatext "false" @default.
- W4309086345 isRetracted "false" @default.
- W4309086345 workType "article" @default.