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Summary & Details

Pose and Covariance Matrix Propagation Issues in Cooperative Localization with LiDAR Perception

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Publication code: 20192730

Paper/Info type: Other International Conferences

No.Paper MoPM_P3.16

Pages: 1-6(Total 6 p)

Date of publication: Jun 2019

Publisher: Others, Unknown

Language: English

Event: IV19

Detailed Information

Category(E)	Poster 2: Mapping and Localization
Author(E)	1) Héry, Elwan, 2) Xu, Philippe, 3) Bonnifait, Philippe
Affiliation(E)	1) University of Technology of Compiègne, 2) University of Technology of Compiegne, 3) University of Technology of Compiegne
Abstract(J)	複数の車両が無線通信を介して互いを知覚し，形状モデルを共有し得る場合の協調姿勢推定ソリューションを紹介する．LiDARベースの知覚法および車両の共有多角形モデルを用いて，2つの車両間の相対的な姿勢を演算する．車道実験による精度および整合性の評価結果と併せて，単純なケーススタディによる利点と欠点の解析結果を示す． Translation

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