albertyouquan / hector_slam_ceres

"Localization and Perception for Control and Decision-Making of a Low-Speed Autonomous Shuttle in a Campus Pilot Deployment." SAE International Journal of Connected and Automated Vehicles 1, no. 12-01-02-0003 (2018).

hector_slam_Ceres

Official Implementation of paper "Wen, Bowen, Sukru Yaren Gelbal, Bilin Aksun Guvenc, and Levent Guvenc. "Localization and Perception for Control and Decision-Making of a Low-Speed Autonomous Shuttle in a Campus Pilot Deployment." SAE International Journal of Connected and Automated Vehicles 1, no. 12-01-02-0003 (2018)."

Citation:

@article{wen2018localization,
  title={Localization and Perception for Control and Decision-Making of a Low-Speed Autonomous Shuttle in a Campus Pilot Deployment},
  author={Wen, Bowen and Gelbal, Sukru Yaren and Guvenc, Bilin Aksun and Guvenc, Levent},
  journal={SAE International Journal of Connected and Automated Vehicles},
  volume={1},
  number={12-01-02-0003},
  year={2018}
}

Dependency:

Ceres (optimization library developed by Google, similar to G2O): http://ceres-solver.org/

Demo:

Click to watch video