Sheng-Yu Lu

High-Precision Vehicle Positioning in Urban Canyons Utilizing Photorealistic 3-D Maps and Factor Graph Optimization

A novel factor graph optimization (FGO) framework that pioneers the use of accessible, textured photorealistic 3-D maps to enhance vehicle positioning, and proposes a registration-based centroid clustering matching matching (RCCM) method to accurately associate landmark features derived from 3-D point clouds with those...