State estimation of multi-sensor systems based on error-state Kalman.

In Fig 12(b) , as the data volume increased, the false positive rate of ESKF-YOLOv5s showed a decreasing trend, from 0.060 to 0.033, with a significant decrease and small fluctuations, always lower than other algorithms; The false positive rate of EKF-YOLOv5s fluctuated between [0.069, 0.111], although there was a slight decrease, the overall false positive rate was high; The false positive rate of ESKF-LiDAR fluctuated between [0.094, 0.126], with data point 20 being 0.126.

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