An Odometry Algorithm based on Constrained and Non-Uniformly Multirate Sampled Kalman Filter using LiDAR and IMU
碩士 === 國立交通大學 === 電控工程研究所 === 105 === The proposed algorithm uses EM-GICP as LiDAR registration algorithm combined with topology approach plane and edge feature extraction, gravity projection method to estimate the linear acceleration and complete the odometry algorithm with nonlinear multi-rate Kal...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | en_US |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/n4zq44 |