Autonomous driving-study notes for multi-sensor fusion

1 Multi-sensor fusion algorithm selection-use EKF

Because Apollo uses EKF, we also use EKF, (for specific information, you can check issues_10957 )

This is also said in the paper "Comparison of EKF, UKF, PF Target Tracking Performance" recommended by Mr. Jia of "Unmanned Driving"

2 Definition of transfer equation

2.1 Sensor used

Speedometer (category IMU): it will display the moving speed of the car in real time (if it moves, the moving speed will be displayed; if it does not move, the speed will be 0);

2 Remarks

2.1 Why doesn't the fusion algorithm use UKF?

Because in UKF, the assumption is that the transfer equation of the system uses a nonlinear transformation, or that the recursive formula is a nonlinear transformation;

And the recursive equation we use in the project comes from the SLAM-based odometer, and its relative displacement is a homogeneous change, a linear transformation,

So we do n’t use UKF here;