000145266 001__ 145266
000145266 005__ 20241015122514.0
000145266 0247_ $$2doi$$a10.1109/LRA.2024.3457383
000145266 0248_ $$2sideral$$a140011
000145266 037__ $$aART-2024-140011
000145266 041__ $$aeng
000145266 100__ $$aMontano-Oliván, Lorenzo
000145266 245__ $$aG-Loc: tightly-coupled graph localization with prior topo-metric information
000145266 260__ $$c2024
000145266 5060_ $$aAccess copy available to the general public$$fUnrestricted
000145266 5203_ $$aLocalization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization estimates. In this letter, we offer a new perspective on map-based localization by reusing prior topological and metric information. Thus, we reformulate this long-studied problem to go beyond the mere use of metric maps. Our framework seamlessly integrates LiDAR, inertial and GNSS measurements, and cloud-to-map registrations in a sliding window graph fashion, which allows to accommodate the uncertainty of each observation. The modularity of our framework allows it to work with different sensor configurations (e.g., LiDAR resolutions, GNSS denial) and environmental conditions (e.g., mapless regions, large environments). We have conducted several validation experiments, including the deployment in a real-world automotive application, demonstrating the accuracy, efficiency, and versatility of our system in online localization.
000145266 536__ $$9info:eu-repo/grantAgreement/ES/DGA-FSE/T73_23R
000145266 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000145266 655_4 $$ainfo:eu-repo/semantics/other$$vinfo:eu-repo/semantics/acceptedVersion
000145266 700__ $$0(orcid)0000-0002-1361-9529$$aPlaced, Julio A.$$uUniversidad de Zaragoza
000145266 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, Luis$$uUniversidad de Zaragoza
000145266 700__ $$aLázaro, María T.
000145266 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000145266 773__ $$g9, 11 (2024), 9167-9174$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766
000145266 8564_ $$s6922286$$uhttps://zaguan.unizar.es/record/145266/files/texto_completo.pdf$$yPostprint
000145266 8564_ $$s4133685$$uhttps://zaguan.unizar.es/record/145266/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000145266 909CO $$ooai:zaguan.unizar.es:145266$$particulos$$pdriver
000145266 951__ $$a2024-10-15-10:51:13
000145266 980__ $$aARTICLE