Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization
Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno,Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph. The tight coupling of the scan-to-scan and scan-to-map registration factors enables a smooth fusion of sensor ego-motion estimation and map-based trajectory corre...
