Fail-Aware LIDAR-Based Odometry for Autonomous Vehicles.

Autonomous driving systems are set to become a reality in transport systems and, so, maximum acceptance is being sought among users. Currently, the most advanced architectures require driver intervention when functional system failures or critical sensor operations take place, presenting problems related to driver state, distractions, fatigue, and other factors that prevent safe control. Therefore, this work presents a redundant, accurate, robust, and scalable LiDAR odometry system with fail-aware system features that can allow other systems to perform a safe stop manoeuvre without driver mediation.