TransFusionOdom: Transformer-based LiDAR-Inertial Fusion Odometry Estimation

Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. Recently, learning-based approaches garner the attention in this field, due to their robust non-handcrafted designs. However, the questio...

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Veröffentlicht in:	IEEE sensors journal Jg. 23; H. 18; S. 1
Hauptverfasser:	Sun, Leyuan, Ding, Guanqun, Qiu, Yue, Yoshiyasu, Yusuke, Kanehiro, Fumio
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 15.09.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Schlagworte:	Ablation Attention mechanisms Computer Science Datasets Estimation Inertial fusion (reactor) Laser radar Learning Lidar LiDAR-inertial odometry Modules multi-modal learning Multisensor fusion Odometry Robotics sensor data fusion Sensor fusion Sensors Strategy Task analysis transformer Vertex & Normal Transformers
ISSN:	1530-437X, 1558-1748
Online-Zugang:	Volltext
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