A highway-focused AV localization system decouples LiDAR geometric and texture cues, augments EKF with steering and acceleration commands, and releases a 163 km public dataset showing superior robustness over baselines in challenging conditions.
Kinematic and dynamic vehicle model-assisted global positioning method for autonomous ve- hicles with low-cost gps/camera/in-vehicle sensors
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Robust Localization for Autonomous Vehicles in Highway Scenes
A highway-focused AV localization system decouples LiDAR geometric and texture cues, augments EKF with steering and acceleration commands, and releases a 163 km public dataset showing superior robustness over baselines in challenging conditions.