Optimize car trajectory in constrained time frame using dynamic/kinematic limits and collision as constraints for non-linear optimization problem. Localize with LiDAR scan matching and feed estimated pose to MPC.
Create realistic sensor model that enables optimization of sensor model parameters and reasoning about scene geometry.
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment. While their accuracy outperforms other types of …
Accurately model LiDAR sensor in a differentiable framework supporting gradient-based optimizations