4 papers
Odyssey: An Automotive Lidar-Inertial Odometry Dataset with GNSS-denied situations
Aaron Kurda, Simon Steuernagel, Lukas Jung +1
The development and evaluation of Lidar-Inertial Odometry (LIO) and Simultaneous Localization and Mapping (SLAM) systems requires a precise ground truth. The Global Navigation Sate…
Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps
Aaron Kurda, Simon Steuernagel, Marcus Baum
Lidar odometry aims to estimate the ego-motion of a mobile platform from a stream of lidar scans. Traditional scan-to-map approaches register each scan against a single, evolving m…
Decoupled Quadratic Kalman Filter for Elliptical Extended Object Tracking with Log-normal Axis Modeling
Simon Steuernagel, Marcus Baum
Extended object tracking involves estimating both the physical extent and kinematic parameters of a target object, where typically multiple measurements are observed per time step.…
Track-to-Track Association for Collective Perception based on Stochastic Optimization
Laura M. Wolf, Vincent Albert Wolff, Simon Steuernagel +2
Collective perception is a key aspect for autonomous driving in smart cities as it aims to combine the local environment models of multiple intelligent vehicles in order to overcom…