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Found 5 papers, 3 papers with code
ICET Online Accuracy Characterization for Geometry-Based Laser Scan Matching
In this paper we introduce the Iterative Closest Ellipsoidal Transform (ICET), a novel 3D LIDAR scan-matching algorithm that re-envisions NDT in order to provide robust accuracy prediction from first principles.
Multipath Effects on Frequency-Locked Loops (FLLs) and FLL-derived Doppler Measurements
This paper investigates the impact of non-line-of-sight (NLOS) and multipath signals on frequency-locked loops (FLLs), which are commonly used to obtain Doppler shift measurements for velocity estimation in radio navigation.
DNN Filter for Bias Reduction in Distribution-to-Distribution Scan Matching
Distribution-to-distribution (D2D) point cloud registration techniques such as the Normal Distributions Transform (NDT) can align point clouds sampled from unstructured scenes and provide accurate bounds of their own solution error covariance -- an important feature for safety-of-life navigation tasks.
Mitigating Shadows in Lidar Scan Matching using Spherical Voxels
In this paper we propose an approach to mitigate shadowing errors in Lidar scan matching, by introducing a preprocessing step based on spherical gridding.
Enhanced Laser-Scan Matching with Online Error Estimation for Highway and Tunnel Driving
Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms.
