{"title":"未来自动驾驶的惯性和成像传感器融合","authors":"I. Prikhodko","doi":"10.1109/INERTIAL53425.2022.9787743","DOIUrl":null,"url":null,"abstract":"In this paper we discuss Analog Device’s approach to enable safe, reliable autonomous transport by developing highly accurate, real-time sensor fusion for navigation. Our perception sensor suite uses radar, lidar, cameras, and IMUs to provide a trustworthy position of a vehicle in GPS-denied environment. We experimentally demonstrate strapdown inertial navigation for automobiles with position errors reaching GPS-like accuracies by using a tactical-grade IMU and visual/lidar/radar odometry. We analyze the propagation of sensor errors into positional error and compare theory with field test results.","PeriodicalId":435781,"journal":{"name":"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Inertial and Imaging Sensor Fusion for an Autonomous Tomorrow\",\"authors\":\"I. Prikhodko\",\"doi\":\"10.1109/INERTIAL53425.2022.9787743\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper we discuss Analog Device’s approach to enable safe, reliable autonomous transport by developing highly accurate, real-time sensor fusion for navigation. Our perception sensor suite uses radar, lidar, cameras, and IMUs to provide a trustworthy position of a vehicle in GPS-denied environment. We experimentally demonstrate strapdown inertial navigation for automobiles with position errors reaching GPS-like accuracies by using a tactical-grade IMU and visual/lidar/radar odometry. We analyze the propagation of sensor errors into positional error and compare theory with field test results.\",\"PeriodicalId\":435781,\"journal\":{\"name\":\"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)\",\"volume\":\"26 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-05-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INERTIAL53425.2022.9787743\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INERTIAL53425.2022.9787743","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Inertial and Imaging Sensor Fusion for an Autonomous Tomorrow
In this paper we discuss Analog Device’s approach to enable safe, reliable autonomous transport by developing highly accurate, real-time sensor fusion for navigation. Our perception sensor suite uses radar, lidar, cameras, and IMUs to provide a trustworthy position of a vehicle in GPS-denied environment. We experimentally demonstrate strapdown inertial navigation for automobiles with position errors reaching GPS-like accuracies by using a tactical-grade IMU and visual/lidar/radar odometry. We analyze the propagation of sensor errors into positional error and compare theory with field test results.
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