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GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR-Inertial-GNSS System for Robust and Real-Time Global Localization and Mapping
Globally consistent, real-time state estimation in large-scale, perceptually degraded environments is essential for autonomous vehicles and aerial robots, and requires fusing LiDAR, inertial, and GNSS measurements. Existing fusion methods, however, share a scan-to-map front-end with two failure mode
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