LiDAR Data Association Risk Reduction, Using Tight Integration with INS

This paper describes the design and analysis of a new method to integrate measurements from light detection and ranging (LiDAR) and inertial navigation systems (INS). The tight integration scheme aims at facilitating safety risk evaluation while exploiting complementary properties of LiDAR and INS. In particular, INS is used to improve LiDAR prediction of position and orientation (or pose), thereby reducing the risk of incorrectly associating scanned features with mapped landmarks. Moreover, LiDAR pose estimation updates can limit the drift of INS errors over time.

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