Optimized Factor Graph for Tightly-Coupled LiDAR/IMU Localization in Underground Parking Garages
To address the challenge of intelligent vehicle localization in underground parking structures due to the loss of GNSS signals, this paper introduces a method to address this issue by developing a novel localization framework known as GF-LIO, which denotes a tightly-coupled fusion of LiDAR and IMU d...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2024-10-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-annals.copernicus.org/articles/X-4-2024/469/2024/isprs-annals-X-4-2024-469-2024.pdf |