A Robust LiDAR Localization Method for Complex Underground Spaces Using Gaussian-Blurred Normal Distributions Transform Maps
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DOI: 10.1109/tim.2025.3635313
Abstract: Robust localization is essential for emergency rescue operations, infrastructure inspection, and autonomous exploration in complex underground spaces. However, the factors, such as global navigation satellite system (GNSS)-denied conditions, semi-structured environments, and complex terrain in underground… read more here.
Keywords: complex underground; gaussian blurred; underground spaces; localization method ... See more keywords