ArticleSensors (Basel, Switzerland)2024
Improved Multi-Sensor Fusion Dynamic Odometry Based on Neural Networks.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Lightweight Road Adaptive Path Tracking Based on Soft Actor-Critic RL Method.Sensors (Basel, Switzerland) · 2025Article
- AI-Driven Dynamic Covariance for ROS 2 Mobile Robot Localization.Sensors (Basel, Switzerland) · 2025Article
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Authors and funding
3 authors.
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Abstract
High-precision simultaneous localization and mapping (SLAM) in dynamic real-world environments plays a crucial role in autonomous robot navigation, self-driving cars, and drone control. To address this dynamic localization issue, in this paper, a dynamic odometry method is proposed based on FAST-LIVO, a fast LiDAR (light detection and ranging)-inertial-visual odometry system, integrating neural networks with laser, camera, and inertial measurement unit modalities. The method first constructs visual-inertial and LiDAR-inertial odometry subsystems. Then, a lightweight neural network is used to remove dynamic elements from the visual part, and dynamic clustering is applied to the LiDAR part to eliminate dynamic environments, ensuring the reliability of the remaining environmental data. Validation of the datasets shows that the proposed multi-sensor fusion dynamic odometry can achieve high-precision pose estimation in complex dynamic environments with high continuity, reliability, and dynamic robustness.
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