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Odometry is a very popular research direction in recent decades and plays a very critical role in the autonomous navigation system. VISO2, as a relatively robust and mature visual odometry algorithm, becomes unreliable when distinct visual features are insufficiently or when the texture of the environment is repetitive. Even if not in such a challenging environment, the drift is still a big problem...
Obstacle information detection is a prerequisite for safety and stability driving of unmanned platforms in the unknown environments. Joint detection of the obstacle using the 3D laser radar (3D LADAR) and camera is proposed in this paper. Firstly, joint calibration between 3D LADAR and camera based on the planar feature method is done. Secondly, laser point cloud is clustered to identify the number...
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