3 accepted papers
To reduce the reliance on high-definition (HD) maps, a growing trend in autonomous driving is leveraging onboard sensors to generate vectorized maps online. However, current methods are mostly constrained by processing only single-frame inputs, which hampers their robustness and effectiveness in com
Accurate and robust localization is an essential task for autonomous driving systems. In this paper, we propose a novel 3D LiDAR-aided visual-inertial localization method. Our method fully explores the complementarity of visual and LiDAR observations. On the one hand, the association between semanti…
Robust and accurate pose estimation in long-term localization is crucial to autonomous driving. In this paper, we dealt with absolute localization with a LiDAR feature map and multi-sensor measurements. We proposed a tightly-coupled fusion method with fixed-lag smoothing. A sliding window of recentl…