Sensor augmentation with a priori data effectively expands the sensing range and adds new sensing modalities.
High resolution elevation maps are registered to live estimates of the ground height to provide robust GPS
estimates and to avoid steep slopes which may be unobservable by the sensors. Live sensor data is fused into
persistent maps that are continuously relaxed and updated with new information. The map provides a robust
location estimate and can be fused with the current live costmap to fill in gaps beyond the sensing horizon,
allowing the navigation system to effectively re-route the vehicle over large distances.
Elliot R. Johnson, Marc C. Alban, Richard D. Garcia, and Kristopher C. Kozak, "Augmenting autonomous vehicle sensor processing with prior data," Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950I (Presented at SPIE Defense + Security: April 12, 2017; Published: 5 May 2017); https://doi.org/10.1117/12.2266706.
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