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This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information. We extend recent work in this area to the problem of recovering the Sim(3) transformation between a 2D lidar and a rigidly attached monocular camera, where the scale of the camera trajectory is not known a priori. We demonstrate...
Accurate and consistent ego motion estimation is a critical component of autonomous navigation. For this task, the combination of visual and inertial sensors is an inexpensive, compact, and complementary hardware suite that can be used on many types of vehicles. In this work, we compare two modern approaches to ego motion estimation: the Multi-State Constraint Kalman Filter (MSCKF) and the Sliding...
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