Rui Bettencourt

GEERS: Georeferenced Enhanced EKF Using Point Cloud Registration and Segmentation

Georeferenced Enhanced EKF using point cloud Registration and Segmentation (GEERS) is a high-accuracy and consistent-rate localization method for outdoor robots. The localization is estimated by an EKF that fuses wheel odometry, IMU and GNSS measurements, in addition to feedback corrections from a r