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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Detalles Bibliográficos
Autores principales: Niedzwiedzki, Jakub, Niewola, Adam, Lipinski, Piotr, Swaczyna, Piotr, Bobinski, Aleksander, Poryzala, Pawel, Podsedkowski, Leszek
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7764368/
https://www.ncbi.nlm.nih.gov/pubmed/33322587
http://dx.doi.org/10.3390/s20247123

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