GLIO: Tightly-coupled gnss/lidar/imu integration for continuous and drift-free state estimation of intelligent vehicles in urban areas

Liu, X., Wen, W., Hsu, L. T.

IEEE Transactions on Intelligent Vehicles (2023)

Key idea. GLIO tightly couples GNSS, LiDAR, and IMU in a single factor graph, so absolute GNSS positioning and drift-free LiDAR-inertial odometry constrain each other — global accuracy without the long-run drift of LiDAR-only systems.

Impact. Delivers continuous, drift-free state estimation for intelligent vehicles across urban areas, and is a flagship example of the lab’s multi-sensor fusion stack for real platforms.