An Integrated GNSS/LiDAR-SLAM Pose Estimation Framework for Large-Scale Map Building in Partially GNSS-Denied Environments
نویسندگان
چکیده
This article presents an integrated global navigation satellite system/light detection and ranging (GNSS/LiDAR)-based simultaneous localization mapping (SLAM) pose estimation framework to perform large-scale 3-D map building in partially GNSS-denied outdoor environments. The takes the advantage of complementarity between GNSS positioning LiDAR-SLAM decompose task according real-time kinematic (RTK) status. When scenes, a algorithm is adopted estimate poses correction presented correct drift errors. On other hand, when open GNSS-initialized LiDAR (GL-mapping) proposed loosely couple data registration. It can orientation without use either high-cost inertial sensing device or dual-antenna. Experiments are conducted environments demonstrate that accomplish with high precision both scenes scenes.
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ژورنال
عنوان ژورنال: IEEE Transactions on Instrumentation and Measurement
سال: 2021
ISSN: ['1557-9662', '0018-9456']
DOI: https://doi.org/10.1109/tim.2020.3024405