NLOS Identification- and Correction-Focused Fusion of UWB and LiDAR-SLAM Based on Factor Graph Optimization for High-Precision Positioning with Reduced Drift
In this study, we propose a tightly coupled integrated method of ultrawideband (UWB) and light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) for global navigation satellite system (GNSS)-denied environments to achieve high-precision positioning with Trapeze Bars reduced drift.Specifically, we focus on non-line-of-