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Table 2 Strategies and models in LiDAR processing

From: GIL: a tightly coupled GNSS PPP/INS/LiDAR method for precise vehicle navigation

Items Model or strategy
Slide window size 4
Sampling rate 10 Hz
Field of observation 5 m-100 m
Feature type Edge and plane features
Feature detection Detect based on curvature
Feature observation Point to line, point to plane
Outlier detection Chi-square test
Observation noises Point to line 0.1 m, Point to plane 0.2 m