145266 20260217205541.0 doi 10.1109/LRA.2024.3457383 sideral 140011 ART-2024-140011 eng Montano-Oliván, Lorenzo G-Loc: tightly-coupled graph localization with prior topo-metric information 2024 Access copy available to the general public Unrestricted Localization 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. info:eu-repo/grantAgreement/ES/DGA-FSE/T73_23R info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 5.3 2024 ROBOTICS 12 / 48 = 0.25 2024 Q1 T1 1.481 2024 Artificial Intelligence 2024 Q1 Biomedical Engineering 2024 Q1 Computer Science Applications 2024 Q1 Mechanical Engineering 2024 Q1 Control and Optimization 2024 Q1 Control and Systems Engineering 2024 Q1 Human-Computer Interaction 2024 Q1 Computer Vision and Pattern Recognition 2024 Q1 10.3 2024 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Placed, Julio A. Universidad de Zaragoza (orcid)0000-0002-1361-9529 Montano, Luis Universidad de Zaragoza (orcid)0000-0002-0449-2300 Lázaro, María T. 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 9, 11 (2024), 9167-9174 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 6922286 http://zaguan.unizar.es/record/145266/files/texto_completo.pdf Postprint 4133685 http://zaguan.unizar.es/record/145266/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:145266 articulos driver 2026-02-17-20:36:19 ARTICLE