A neural network trained on Monte Carlo ICP covariances predicts LiDAR localization error covariance and improves Kalman filter localization by about 2 cm on a KITTI sequence.
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Neural Error Covariance Estimation for Precise LiDAR Localization
A neural network trained on Monte Carlo ICP covariances predicts LiDAR localization error covariance and improves Kalman filter localization by about 2 cm on a KITTI sequence.