LiDAR-Inertial-GNSS Fusion Positioning System in Urban Environment: Local Accurate Registration and Global Drift-Free
Aiming at the insufficient accuracy and accumulated error of the point cloud registration of LiDAR-inertial odometry (LIO) in an urban environment, we propose a LiDAR-inertial-GNSS fusion positioning algorithm based on voxelized accurate registration. Firstly, a voxelized point cloud downsampling me...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-04-01
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| Series: | Remote Sensing |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-4292/14/9/2104 |