A dynamic observation range framework cuts LiDAR localization matching time by about 3.6x (142 ms to 39 ms) while maintaining mean error near 8 cm on a Tokyo urban route.
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving,
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How far should self-driving cars see? Effect of observation range on vehicle self-localization
A dynamic observation range framework cuts LiDAR localization matching time by about 3.6x (142 ms to 39 ms) while maintaining mean error near 8 cm on a Tokyo urban route.