Real-Time Parallel-Serial LiDAR-Based Localization Algorithm with Centimeter Accuracy for GPS-Denied Environments

Real-Time Parallel-Serial LiDAR-Based Localization Algorithm with Centimeter Accuracy for GPS-Denied Environments

In this paper, we introduce a real-time parallel-serial algorithm for autonomous robot positioning for GPS-denied, dark environments, such as caves and mine galleries. To achieve a good complexity-accuracy trade-off, we fuse data from light detection and ranging (LiDAR) and an inertial measurement u...

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Bibliographic Details
Main Authors: Jakub Niedzwiedzki, Adam Niewola, Piotr Lipinski, Piotr Swaczyna, Aleksander Bobinski, Pawel Poryzala, Leszek Podsedkowski
Format: Article
Language:English
Published: MDPI AG 2020-12-01
Series:Sensors
Subjects:
CUDA
GPGPU
Kalman filters
LiDAR localization
mobile robots
parallel processing
Online Access:https://www.mdpi.com/1424-8220/20/24/7123

Internet

https://www.mdpi.com/1424-8220/20/24/7123

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