5/27/2023 0 Comments Dilo definition![]() Localization may use simultaneous localization and mapping (SLAM) or prebuilt maps with matching algorithms. The first task of a software pipeline for self-driving is to find a vehicle's location and direction on the map. Over the last decade, autonomous driving has become a prominent and exciting research area. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. ![]() The proposed technique was tested with the KITTI dataset and real environments. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. However, applying LiDAR data is difficult because of the sparsity. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. In this article, we propose a fast, robust, and accurate odometry technique. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. Over the last few years, autonomous vehicles have progressed very rapidly.
0 Comments
Leave a Reply. |