Method And System For Accurate Long Term Simultaneous Localization And Mapping With Absolute Orientation Sensing
Abstract
Described herein are embodiments of a method and system that uses a vertical or upward facing imaging sensor to compute vehicle attitude, orientation, or heading and combines the computed vehicle attitude, orientation, or heading with range bearing measurements from an imaging sensor, LiDAR, sonar, etc., to features in the vicinity of the vehicle to compute accurate position and map estimates.
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Citation
Agarwal, Saurav; Chakravorty, Suman (12/2). Method And System For Accurate Long Term Simultaneous Localization And Mapping With Absolute Orientation Sensing. United States. Patent and Trademark Office; Texas A&M University. Libraries. Available electronically from https : / /hdl .handle .net /1969 .1 /197556.