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Estimating the Heading of a Husky Mobile Robot with a LiDAR Compass based on Direction Maps
Without an absolute position sensor (e.g., GPS), an accurate heading estimate is necessary for proper localization of an autonomous unmanned vehicle or robot. This paper introduces direction maps (DMs), which represent the ...
The LiDAR Compass: Extremely Lightweight Heading Estimation with Axis Maps
This paper introduces the LiDAR compass, a bounded and extremely lightweight heading estimation technique that combines a two-dimensional laser scanner and axis maps, which represent the orientations of flat surfaces in ...