Ze-W. Sun

DLIRO: Dual-Antenna RTK-Aided LiDAR-Inertial Odometry for Large-Scale Outdoor Localization

High-accuracy outdoor SLAM often benefits from the fusion of RTK, LiDAR, and IMU, which combines global positioning capability with robust local geometric and inertial constraints. However, many existing methods mainly rely on singleantenna RTK or use GNSS primarily as position-level constraints, while the additional h...