Integrated Pose Estimation Using 2D Lidar and INS Based on Hybrid Scan Matching

Integrated Pose Estimation Using 2D Lidar and INS Based on Hybrid Scan Matching

Point cloud data is essential measurement information that has facilitated an extended functionality horizon for urban mobility. While 3D lidar and image-depth sensors are superior in implementing mapping and localization, sense and avoidance, and cognitive exploration in an unknown area, applying 2...

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Bibliographic Details
Main Authors: Gwangsoo Park, Byungjin Lee, Sangkyung Sung
Format: Article
Language:English
Published: MDPI AG 2021-08-01
Series:Sensors
Subjects:
scan matching
registration
normal distribution transform
localization
pose estimation
Online Access:https://www.mdpi.com/1424-8220/21/16/5670

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