Implementation of Tightly-Coupled SLAM Fusion of GPS, IMU, and LiDAR for Autonomous Vehicles

arXiv:2609.20321 · cs.RO · Submitted 2026-07-31 · Read on arXiv

cs.RO

Submitted: 2026-07-31

Updated: 2026-07-31

Terminology

• Elias — 5× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Pose Graph Optimization — 3× in this paper
• Abstraction — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Iterated Error-State Kalman Filter — 2× in this paper
• Simultaneous Localization and Mapping — 2× in this paper
• Absolute Pose Error — 1× in this paper
• Cooperative Architectures for Transportation Systems — 1× in this paper
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Intelligent Transportation Systems Conference — 1× in this paper
• Iterative Closest Point — 1× in this paper
• Relative Pose Error — 1× in this paper

Sources

• VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM

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