Autonomous Vehicle Calibration via Linear Optimization
Abstract
In navigation activities, kinematic parameters of a mobile vehicle play a significant role. Odometry is most commonly used for dead reckoning. However, the unrestricted accumulation of errors is a disadvantage using this method. As a result, it is necessary to calibrate odometry parameters to minimize the error accumulation. This paper presents a pipeline based on sequential least square programming to minimize the relative position displacement of an arbitrary landmark in consecutive time steps of a kinematic vehicle model by calibrating the parameters of applied model. Results showed that the developed pipeline produced accurate results with small datasets.
Keywords
Cite
@article{arxiv.2204.12818,
title = {Autonomous Vehicle Calibration via Linear Optimization},
author = {Georg Novotny and Yuzhou Liu and Wilfried Wöber and Cristina Olaverri-Monreal},
journal= {arXiv preprint arXiv:2204.12818},
year = {2022}
}
Comments
6 pages, 8 figures, to be published in 2022 IEEE Intelligent Vehicles Symposium (IV)