What is LIO-ICP Localization?
What is LIO-ICP Localization?
This paper presents a novel method for non-GPS based localization by integrating LiDAR and IMU sensors. The main concept of this approach is to utilize the Iterative Closest Point(ICP) algorithm for registration between the pre-built point cloud submap and the LiDAR scan data when the vehicle enters a GPS signal limited area. Experiments validating the effectiveness of this method were conducted both in the MORAI simulator and in real-world scenarios.
Demo Video
Advanced
Integrating System on Real Robot
We run the system on a real robot(SCOUT2.0) with a LiDAR(Ouster-64) outdoors at INHA University.