Technical Paper
Quantitative Resilience Assessment of GPS, IMU, and LiDAR Sensor Fusion for Vehicle Localization Using Resilience Engineering Theory
2023-04-11
2023-01-0576
A Kalman Filter is used to fuse GPS, IMU and LiDAR data for vehicle localization in the CARLA simulator. This vehicle localization algorithm was then evaluated using resilience engineering metrics in the simulated multipath and overpass scenario.