Core Concepts
Proposed HDA-LVIO algorithm significantly improves localization accuracy in urban environments.
Abstract
The article introduces the HDA-LVIO system, a novel LiDAR-Visual-Inertial odometry method for enhancing localization accuracy in urban settings. The system is divided into two subsystems: LiDAR-Inertial and Visual-Inertial. It employs hybrid data association to improve accuracy by extracting planes, projecting centroids onto images, tracking feature points, and utilizing epipolar geometric constraints. Extensive experiments validate the algorithm's superior performance compared to existing methods.
Stats
Proposed algorithm achieves obviously improvement in localization accuracy compared to various existing algorithms.
The proposed HDA-LVIO attains consistently minimal localization errors, virtually converging to zero meters compared to other benchmark algorithms.
Quotes
"The proposed HDA-LVIO achieves obviously improvement in localization accuracy compared to various existing algorithms."