Simple But Effective Redundant Odometry for Autonomous Vehicles
Andrzej Reinke,
Xieyuanli Chen,
Cyrill Stachniss
Abstract:Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that exploits the redundancy of multiple odometry algorithms using a 3D LiDAR scanner and a monocular camera to provide reliable state estimation for autonomous vehicles. Our system utilizes a stack of odometry algorithms that run in parallel. It chooses from them the most promis… Show more
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