Lidar attitude estimation for vehicle safety systems
Jordan Britt, David J. Broderick, David M. Bevly, John Y. Hung · IEEE/ION Position, Location and Navigation Symposium · 2010
This paper presents two techniques for determining vehicle pitch and roll with a 3-D lidar which will first auto-calibrate itself to the vehicle's axes. The first method presented is based on Euler angles and the second on Gaussian Processes. A 3-antenna Septentrio GPS receiver is used to asses system performance.