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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2503.23199 |
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| _version_ | 1866910899028099072 |
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| author | Cheng, Jintao Xue, Bohuan Chen, Shiyang Xiang, Qiuchi Tang, Xiaoyu |
| author_facet | Cheng, Jintao Xue, Bohuan Chen, Shiyang Xiang, Qiuchi Tang, Xiaoyu |
| contents | Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these problems, we propose a novel LIDAR-based localization framework, which achieves high accuracy and provides robust localization in 3D pointcloud maps with information of multi-sensors. The system integrates global information with LIDAR-based odometry to optimize the localization state. To improve robustness and enable fast resumption of localization, this paper uses offline pointcloud maps for prior knowledge and presents a novel registration method to speed up the convergence rate. The algorithm is tested on various maps of different data sets and has higher robustness and accuracy than other localization algorithms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_23199 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Incorporating GNSS Information with LIDAR-Inertial Odometry for Accurate Land-Vehicle Localization Cheng, Jintao Xue, Bohuan Chen, Shiyang Xiang, Qiuchi Tang, Xiaoyu Robotics Artificial Intelligence Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these problems, we propose a novel LIDAR-based localization framework, which achieves high accuracy and provides robust localization in 3D pointcloud maps with information of multi-sensors. The system integrates global information with LIDAR-based odometry to optimize the localization state. To improve robustness and enable fast resumption of localization, this paper uses offline pointcloud maps for prior knowledge and presents a novel registration method to speed up the convergence rate. The algorithm is tested on various maps of different data sets and has higher robustness and accuracy than other localization algorithms. |
| title | Incorporating GNSS Information with LIDAR-Inertial Odometry for Accurate Land-Vehicle Localization |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2503.23199 |