2024
DOI: 10.3390/rs16224171
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Tightly Coupled LIDAR/IMU/UWB Fusion via Resilient Factor Graph for Quadruped Robot Positioning

Yujin Kuang,
Tongfei Hu,
Mujiao Ouyang
et al.

Abstract: Continuous accurate positioning in global navigation satellite system (GNSS)-denied environments is essential for robot navigation. Significant advances have been made with light detection and ranging (LiDAR)-inertial measurement unit (IMU) techniques, especially in challenging environments with varying lighting and other complexities. However, the LiDAR/IMU method relies on a recursive positioning principle, resulting in the gradual accumulation and dispersion of errors over time. To address these challenges,… Show more

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