Sensor fusion in autonomous vehicle using LiDAR and camera Sensor with Odometry

In this paper sensor fusion methodology along with odometry and motion estimation for autonomous vehicles (AVs) using Light Detection and Ranging (LiDAR) and camera is explored. Since during bad weather conditions, dim light or night time the sensor may not give very good readings, odometry can used in such situations. Odometry gives an estimation of change in position of given vehicle using data from sensors. The study also examines the impact of Extended Kalman Filter (EKF) to reduce error in position estimate of the vehicle both before and after using odometry through a KITTI data-set on vehicle motion.