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...
Main Authors: | Jakub Niedzwiedzki, Adam Niewola, Piotr Lipinski, Piotr Swaczyna, Aleksander Bobinski, Pawel Poryzala, Leszek Podsedkowski |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2020-12-01
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Series: | Sensors |
Subjects: | |
Online Access: | https://www.mdpi.com/1424-8220/20/24/7123 |
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