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Feb, 2022
基于图优化的动态激光雷达 SLAM 和物体跟踪
DL-SLOT: Dynamic Lidar SLAM and Object Tracking Based On Graph Optimization
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Xuebo Tian, Junqiao Zhao, Chen Ye
TL;DR
本文提出DL-SLOT,一种动态激光雷达( Lidar) SLAM和动态目标跟踪方法,该方法将车辆和静态/动态物体的状态估计融合到统一的优化框架中,同时进行SLAM和目标跟踪,以改善高度动态路况下SLAM的鲁棒性和准确性以及物体状态估计的准确性。
Abstract
ego-pose estimation
and
dynamic object tracking
are two key issues in an
autonomous driving system
. Two assumptions are often made for the
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