Zhi-Han Zhao

A-I-LITO: adaptively enhanced thermal/LiDAR/IMU tightly coupled positioning method with field of view perception

In challenging urban scenarios with low illumination and changing fields of view, the accuracy and stability significantly degrade for the existing multi-sensor fusion positioning methods. To address this degradation, a multi-modal tightly coupled positioning framework based on the error-state iterated Kalman filter is...