@inproceedings{415e808479474eb6b03b7b46d93aaa9e,
title = "LiDAR data association risk reduction using tight integration with INS",
abstract = "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.",
author = "Ali Hassani and Mathieu Joerger and \{Duenas Arana\}, Guillermo and Matthew Spenko",
note = "Funding Information: The authors gratefully acknowledge the National Science Foundation for supporting this research (NSF award CMMI-1637899). However, the opinions expressed in this paper do not necessarily represent those of any other organization or person. Publisher Copyright: {\textcopyright} 2018 Institute of Navigation. All rights reserved.; 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 ; Conference date: 24-09-2018 Through 28-09-2018",
year = "2018",
doi = "10.33012/2018.15976",
language = "English (US)",
series = "Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018",
publisher = "Institute of Navigation",
pages = "2467--2483",
booktitle = "Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018",
address = "United States",
}