Lidar SLAM for Autonomous Driving Vehicles
Authors: Farhad Aghili
Abstract: This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the observability of the system are investigated. In addition to the vehicle's states and landmark positions, a self-tuning filter estimates the IMU calibration parameters as well as the covariance of the measurement noise. The discrete-time covariance matrix of the process noise, the state transition matrix, and the observation sensitivity matrix are derived in closed-form making them suitable for real-time implementation. Examining the observability of the 3D SLAM system leads to the conclusion that the system remains observable upon a geometrical condition on the alignment of the landmarks.
Explore the paper tree
Click on the tree nodes to be redirected to a given paper and access their summaries and virtual assistant
Look for similar papers (in beta version)
By clicking on the button above, our algorithm will scan all papers in our database to find the closest based on the contents of the full papers and not just on metadata. Please note that it only works for papers that we have generated summaries for and you can rerun it from time to time to get a more accurate result while our database grows.