激光雷达与路侧摄像头的双层融合协同定位
黄文锦,黄妙华
Double-layer fusion of lidar and roadside camera for cooperative localization
Wen-jin HUANG,Miao-hua HUANG
表 2
3种算法的定位误差统计学指标
Tab.2
Statistical indicators of localization error for three algorithms
定位算法
${\mu _{\rm{L}}}$
/m
${\sigma _{\rm{L}}}$
/m
$\Delta {L_{\max }}$
/m
${\mu _{\rm{\theta}} }$
/(°)
${\sigma _{\rm{\theta}} }$
/(°)
$\Delta {\theta _{\max }}$
/(°)
AMCL
0.956
1.567
6.273
4.877
8.149
38.809
EKF
0.325
0.435
1.483
3.260
5.508
38.478
双层融合
0.199
0.276
1.272
2.179
3.085
14.759