Tightly Coupled Range Inertial Localization on a 3D Prior Map
Based on Sliding Window Factor Graph Optimization

IEEE International Conference on Robotics and Automation (ICRA2024)

Kenji Koide1

Shuji Oishi1

Masashi Yokozuka1

Atsuhiko Banno1

1National Institute of Advanced Industrial Science and Technology (AIST), Japan

Paper

Dataset

Closed-source code


Supplementary video


Global localization results

Blue: Gravity-aligned scan points

Green: Global localization input points

Orange: Map-aligned scan points



Dataset

Dataset can be found at this Zenodo repository DOI