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Accurate position estimation is very vital in applications like autonomous navigation, mobile robotics, 3D modeling, precision agriculture, location based services, and intelligent transport systems, etc. The advancement in the sensor technology and using artificial intelligence methods has given impetus to improving position accuracy. However, challenges still lie when using GPS sensor for the accurate position estimation. In the paper, GPS sensor data are combined with LiDAR sensor data to improve position estimates under various conditions. The data is pre-processed using median filter and RANSAC. The experimental results show position estimates are improved significantly by fusing LiDAR with GPS compared to using GPS sensor alone. The method would be useful for precise positioning in many applications.

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Position Estimation Enhancement Using GNSS and LiDAR Sensor Data

  • 会议论文

  • 发表日期：

    2025年

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  • Ashwani Kumar

摘要

Accurate position estimation is very vital in applications like autonomous navigation, mobile robotics, 3D modeling, precision agriculture, location based services, and intelligent transport systems, etc. The advancement in the sensor technology and using artificial intelligence methods has given impetus to improving position accuracy. However, challenges still lie when using GPS sensor for the accurate position estimation. In the paper, GPS sensor data are combined with LiDAR sensor data to improve position estimates under various conditions. The data is pre-processed using median filter and RANSAC. The experimental results show position estimates are improved significantly by fusing LiDAR with GPS compared to using GPS sensor alone. The method would be useful for precise positioning in many applications.