GNSS/LiDAR/IMU Fusion Odometry Based on Tightly-Coupled Nonlinear Observer in Orchard
Na Sun,
Quan Qiu,
Tao Li
et al.
Abstract:High-repetitive features in unstructured environments and frequent signal loss of the Global Navigation Satellite System (GNSS) severely limits the development of autonomous robot localization in orchard settings. To address this issue, we propose a LiDAR-based odometry pipeline GLIO, inspired by KISS-ICP and DLIO. GLIO is based on a nonlinear observer with strong global convergence, effectively fusing sensor data from GNSS, IMU, and LiDAR. This approach allows for many potentially interfering and inaccessible… Show more
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