Preprint Open access
GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR-Inertial-GNSS System for Robust and Real-Time Global Localization and Mapping
Globally consistent, real-time state estimation in large-scale, perceptually degraded environments is essential for autonomous vehicles and aerial robots, and requires fusing LiDAR, inertial, and GNSS measurements. Existing fusion methods, however, share a scan-to-map front-end with two failure modes. First, each scan …