LiDAR data association risk reduction using tight integration with INS

Ali Hassani, Mathieu Joerger, Guillermo Duenas Arana, Matthew Spenko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper describes the design and analysis of a new method to integrate measurements from light detection and ranging (LiDAR) and inertial navigation systems (INS). The tight integration scheme aims at facilitating safety risk evaluation while exploiting complementary properties of LiDAR and INS. In particular, INS is used to improve LiDAR prediction of position and orientation (or pose), thereby reducing the risk of incorrectly associating scanned features with mapped landmarks. Moreover, LiDAR pose estimation updates can limit the drift of INS errors over time.

Original languageEnglish (US)
Title of host publicationProceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
PublisherInstitute of Navigation
Pages2467-2483
Number of pages17
ISBN (Electronic)0936406100, 9780936406107
Publication statusPublished - Jan 1 2018
Event31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 - Miami, United States
Duration: Sep 24 2018Sep 28 2018

Publication series

NameProceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018

Conference

Conference31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
CountryUnited States
CityMiami
Period9/24/189/28/18

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ASJC Scopus subject areas

  • Computer Science Applications
  • Software
  • Electrical and Electronic Engineering

Cite this

Hassani, A., Joerger, M., Duenas Arana, G., & Spenko, M. (2018). LiDAR data association risk reduction using tight integration with INS. In Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 (pp. 2467-2483). (Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018). Institute of Navigation.