A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules, namely scan pre-processing module, dynamic object detection module, laser-inertial odometry module and laser mapping module. Scan …