Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment.

In recent years, research and development of autonomous driving technology have gained much interest. Many autonomous driving frameworks have been developed in the past. However, building a safely operating fully functional autonomous driving framework is still a challenge.

Robust Stereo Visual Inertial Navigation System Based on Multi-Stage Outlier Removal in Dynamic Environments.

Robotic mapping and odometry are the primary competencies of a navigation system for an autonomous mobile robot. However, the state estimation of the robot typically mixes with a drift over time, and its accuracy is degraded critically when using only proprioceptive sensors in indoor environments. Besides, the accuracy of an ego-motion estimated state is severely diminished in dynamic environments because of the influences of both the dynamic objects and light reflection.