A Persistent and Context-aware Behavior Tree Framework for Multi Sensor Localization in Autonomous Driving

Abstract

Fig. 1. Vehicle trajectories of 53 rosbags in the University of Sydney Campus Dataset output from the GPS+lidar main filter are superimposed together onto a satellite image. No manual alignment of trajectory is performed. The color of trajectory points indicates the state of update used by the filter. Green: lidar feature updating. Blue: dead reckoning. Red: GPS updating. The blue dead reckoning area in the middle of the image is an underground carpark.