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 | 10Â Hz |
Field of observation | 5Â m-100Â 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 0.1Â m, Point to plane 0.2Â m |