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Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm
This paper presents a novel method to assess the resilience of the Iterative Closest Point (ICP) algorithm via deep-learning-based attacks on lidar point clouds.
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
Combining a proven analytical approach with a learned weight reduces localization errors in radar-lidar ICP results run on real-world autonomous driving data by up to 54. 94% in translation and 68. 39% in rotation, while maintaining interpretability and robustness.
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously.
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